US 12,304,473 B2
Vehicle control device, vehicle control method, and storage medium
Atsuhiro Sekikawa, Wako (JP); and Shotaro Taniguchi, Wako (JP)
Assigned to HONDA MOTOR CO., LTD., Tokyo (JP)
Filed by HONDA MOTOR CO., LTD., Tokyo (JP)
Filed on Feb. 25, 2022, as Appl. No. 17/680,357.
Claims priority of application No. 2021-055803 (JP), filed on Mar. 29, 2021.
Prior Publication US 2022/0306094 A1, Sep. 29, 2022
Int. Cl. B60W 30/095 (2012.01); B60Q 9/00 (2006.01); B60W 50/14 (2020.01)
CPC B60W 30/0956 (2013.01) [B60Q 9/008 (2013.01); B60W 50/14 (2013.01); B60W 2540/225 (2020.02); B60W 2552/10 (2020.02); B60W 2554/4041 (2020.02); B60W 2710/20 (2013.01); B60W 2720/10 (2013.01)] 10 Claims
OG exemplary drawing
 
1. A vehicle control device comprising:
a processor configured to:
recognize, as a recognition result, an other vehicle present in the surroundings of an own vehicle;
detect, as a detection result, an orientation of a face or a line of sight of a driver of the own vehicle;
determine, as a determination result, whether or not the orientation is within an allowable range;
change the allowable range on the basis of the detection result;
cause an output interface to, on the basis of a position of the other vehicle and present in a second lane adjacent to a first lane in which the own vehicle is present, output predetermined information indicating that the other vehicle is present in the second lane;
perform automated driving for controlling at least one of a speed or steering of the own vehicle on the basis of the recognition result and the determination result, and
reduce a level of the automated driving in a case where it is determined that the orientation is not within the allowable range;
wherein the processor is further configured to:
change a width of the allowable range on the basis of the orientation after the predetermined information is output by the output interface; and
perform the automated driving on the basis of the allowable range in which the width of the allowable range has been changed.