US 12,351,206 B2
Vehicle control device, vehicle control method, and storage medium
Daichi Kato, Wako (JP); and Nozomu Hirosawa, Wako (JP)
Assigned to HONDA MOTOR CO., LTD., Tokyo (JP)
Filed by HONDA MOTOR CO., LTD., Tokyo (JP)
Filed on Jan. 25, 2023, as Appl. No. 18/101,138.
Application 18/101,138 is a continuation of application No. 17/060,098, filed on Oct. 1, 2020.
Claims priority of application No. 2019-187679 (JP), filed on Oct. 11, 2019.
Prior Publication US 2023/0159051 A1, May 25, 2023
Int. Cl. B60W 60/00 (2020.01); B60W 10/20 (2006.01); B60W 30/18 (2012.01); B60W 50/10 (2012.01); B60W 50/14 (2020.01); G01C 21/00 (2006.01)
CPC B60W 60/001 (2020.02) [B60W 10/20 (2013.01); B60W 30/18163 (2013.01); B60W 50/10 (2013.01); B60W 50/14 (2013.01); G01C 21/38 (2020.08); B60W 2552/53 (2020.02); B60W 2556/00 (2020.02)] 9 Claims
OG exemplary drawing
 
1. A vehicle control device comprising:
a processor that executes instructions to:
recognize a peripheral status of a host vehicle; and
control one or both of steering and speed of the host vehicle on the basis of the peripheral status or map information,
wherein the processor causes the host vehicle to change lanes from a host vehicle traveling lane in which the host vehicle travels to an adjacent lane adjacent to the host vehicle traveling lane,
the processor performs a lane change by using one or more of a first lane change operation and a second lane change operation that is different from the first lane change operation,
wherein the first lane change operation comprises determining whether an execution condition of lane change is satisfied when an intention of an occupant of the host vehicle to change the lane is received, and in response to the execution condition being satisfied, maintaining control of the host vehicle until the host vehicle completes the lane change,
wherein the second lane change operation comprises continuously determining, on the basis of a result of recognition of the peripheral status, whether the execution condition for the lane change has been satisfied, after the execution condition has been satisfied, and when one of being instructed by the occupant or without depending on being instructed by the occupant, the lane change is planned and control is maintained until the host vehicle completes the lane change, and
when the host vehicle is unable to complete the lane change during the first lane change operation, the host vehicle resumes traveling in the host vehicle traveling lane for a first period determined as a distance or a time measured from a first time at which the host vehicle was unable to complete the lane change while executing the second lane change operation, suppressing sending an inquiry to the occupant about whether to perform the lane change and prohibiting performance of a subsequent lane change from the host vehicle traveling lane to the adjacent lane without depending on an instruction from the occupant.