US 11,987,245 B2
Method for controlling vehicle and vehicle control device
Reo Sakakura, Kanagawa (JP); and Susumu Fujita, Kanagawa (JP)
Assigned to Nissan Motor Co., Ltd., Yokohama (JP); and Renault S.A.S., Boulogne-Billancourt (FR)
Appl. No. 17/776,489
Filed by Nissan Motor Co., Ltd., Yokohama (JP); and Renault S.A.S., Boulogne-Billancourt (FR)
PCT Filed Nov. 15, 2019, PCT No. PCT/IB2019/001272
§ 371(c)(1), (2) Date May 12, 2022,
PCT Pub. No. WO2021/094802, PCT Pub. Date May 20, 2021.
Prior Publication US 2022/0402492 A1, Dec. 22, 2022
Int. Cl. B60W 30/165 (2020.01); G06V 20/58 (2022.01)
CPC B60W 30/165 (2013.01) [G06V 20/584 (2022.01); B60W 2420/403 (2013.01); B60W 2552/10 (2020.02); B60W 2554/4041 (2020.02); B60W 2554/801 (2020.02); B60W 2554/802 (2020.02); B60W 2555/60 (2020.02); B60W 2556/40 (2020.02)] 10 Claims
OG exemplary drawing
 
1. A method for controlling a vehicle in which a camera configured to capture an image of a predetermined range of an angle of view in front of an own vehicle is mounted on the own vehicle and a traffic light is recognized based on an image captured by the camera, the method comprising:
based on map information including information of an installation position of the traffic light and information of a lane controlled by the traffic light and a range of the angle of view of the camera mounted on the own vehicle, calculating an imaging-enabled area in which an image of the traffic light can be captured on the lane by the camera;
determining whether or not the own vehicle is positioned in the imaging-enabled area; and
when the own vehicle is positioned in the imaging-enabled area, controlling the own vehicle in such a way that the traffic light is not shielded from the range of the angle of view of the camera by a preceding vehicle of the own vehicle.