US 11,738,742 B2
Vehicle control device, vehicle control method, and storage medium
Misa Komuro, Wako (JP); and Yosuke Sakamoto, Wako (JP)
Assigned to HONDA MOTOR CO., LTD., Tokyo (JP)
Filed by HONDA MOTOR CO., LTD., Tokyo (JP)
Filed on Oct. 14, 2020, as Appl. No. 17/69,917.
Claims priority of application No. 2019-191025 (JP), filed on Oct. 18, 2019.
Prior Publication US 2021/0114588 A1, Apr. 22, 2021
Int. Cl. B60W 30/09 (2012.01); B60W 30/095 (2012.01); B60W 10/20 (2006.01); B60W 60/00 (2020.01); B60W 30/14 (2006.01); B60W 10/18 (2012.01)
CPC B60W 30/09 (2013.01) [B60W 10/18 (2013.01); B60W 10/20 (2013.01); B60W 30/0956 (2013.01); B60W 30/143 (2013.01); B60W 60/0017 (2020.02); B60W 2420/42 (2013.01); B60W 2420/52 (2013.01); B60W 2552/45 (2020.02)] 10 Claims
OG exemplary drawing
 
1. A vehicle control device comprising:
a hardware processor executing software, hardware including circuitry, or a cooperation of the software and the hardware, configured to operate as:
a recognizer configured to recognize a surrounding environment of a vehicle;
a setter configured to set a first risk area in a surrounding area of the vehicle on the basis of a recognition result of the recognizer; and
a controller configured to control at least one of a speed and steering of the vehicle,
wherein the setter sets the first risk area to a crosswalk which is provided in front of the vehicle and where the vehicle is scheduled to pass when a moving object is entering the crosswalk on the basis of the recognition result of the recognizer or when the moving object is about to enter the crosswalk on the basis of the recognition result of the recognizer,
wherein the controller prevents the vehicle from entering the first risk area when a first predetermined condition is satisfied,
wherein the controller allows the vehicle to enter the first risk area when the first predetermined condition is not satisfied,
wherein the first risk area comprises all of the crosswalk or the first risk area comprises a first area, the first area comprises the moving object, a first end point in a longitudinal direction of the crosswalk, and an area between the moving object and the first end point, the first end point is opposite of a second end point in the longitudinal direction of the crosswalk, the second end point is an end point of the crosswalk closer to the moving object than the first end point, and
wherein the first predetermined condition is that deceleration related to the vehicle is less than a threshold value when it is assumed that the vehicle is controlled so that the vehicle does not enter the first risk area.