US 11,654,914 B2
Vehicle control device, vehicle control method, and storage medium
Kaijiang Yu, Wako (JP)
Assigned to HONDA MOTOR CO., LTD., Tokyo (JP)
Filed by HONDA MOTOR CO., LTD., Tokyo (JP)
Filed on Jan. 28, 2021, as Appl. No. 17/160,441.
Claims priority of application No. JP2020-017786 (JP), filed on Feb. 5, 2020.
Prior Publication US 2021/0237738 A1, Aug. 5, 2021
Int. Cl. B60W 30/18 (2012.01); B60W 30/095 (2012.01); B60W 40/04 (2006.01); B60W 60/00 (2020.01)
CPC B60W 30/18163 (2013.01) [B60W 30/0953 (2013.01); B60W 40/04 (2013.01); B60W 60/0011 (2020.02); B60W 2552/10 (2020.02); B60W 2554/4041 (2020.02); B60W 2554/4049 (2020.02)] 7 Claims
OG exemplary drawing
 
1. A vehicle control device comprising:
a recognizer configured to recognize a position and a speed of a vehicle traveling in a lane included in a main lane, the main lane being a merging destination of a merging path, when a self-vehicle is traveling in the merging path; and
a merging controller configured to generate a first plan for changing a lane of the self-vehicle to in front of or behind a first vehicle traveling in a first main lane closest to the merging path of the main lane, based on a relative relationship between a position and a speed of the self-vehicle and a position and a speed of the first vehicle, and
to allow the self-vehicle to change lanes to the first main lane based on the first plan when it is estimated that a third vehicle is able to change lanes to a second main lane adjacent to the first main lane without interfering with a fourth vehicle, based on a relative relationship between a position and a speed of the third vehicle and a position and a speed of the fourth vehicle in a case where it is assumed that the self-vehicle has changed lanes to the first main lane based on the first plan, the third vehicle being the first vehicle or a second vehicle present behind the self-vehicle and traveling in the first main lane, the fourth vehicle traveling in the vicinity of the third vehicle in the second main lane,
wherein, in a case where it is estimated that the third vehicle is able to change lanes to the second main lane without interfering with the fourth vehicle, when it is estimated that the fourth vehicle is able to change lanes to a third main lane without interfering with a fifth vehicle based on a relative relationship between the position and the speed of the fourth vehicle and a position and a speed of the fifth vehicle, the merging controller is configured to allow the self-vehicle to change lanes to the first main lane based on the first plan, the fifth vehicle traveling around the fourth vehicle in the third main lane adjacent to the second main lane.