US 12,296,818 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. 17/703,607.
Claims priority of application No. 2021-061590 (JP), filed on Mar. 31, 2021.
Prior Publication US 2022/0314977 A1, Oct. 6, 2022
Int. Cl. B60W 30/09 (2012.01); B60W 10/18 (2012.01); B60W 10/20 (2006.01); B60W 50/14 (2020.01)
CPC B60W 30/09 (2013.01) [B60W 10/18 (2013.01); B60W 10/20 (2013.01); B60W 50/14 (2013.01); B60W 2050/143 (2013.01); B60W 2050/146 (2013.01); B60W 2540/18 (2013.01); B60W 2552/53 (2020.02); B60W 2554/00 (2020.02); B60W 2710/18 (2013.01); B60W 2710/20 (2013.01)] 11 Claims
OG exemplary drawing
 
1. A vehicle control device for controlling a vehicle, the vehicle control device comprising:
a first detection unit configured to detect an out-of-lane region outside a lane in which the vehicle is traveling;
a second detection unit configured to detect an obstacle;
a guiding unit configured to start guiding the vehicle to the out-of-lane region in a case where the first detection unit detects the out-of-lane region and the second detection unit detects the obstacle; and
a steering control unit configured to determine excess or deficiency of avoidance steering by a driver for avoiding a collision with the obstacle in response to the guidance by the guiding unit and perform steering assist on the basis of a degree of the excess or deficiency,
wherein the steering control unit determines that a steering operation by the driver is excessive in a case where the vehicle is predicted to reach a boundary of the out-of-lane region.