US 12,403,902 B2
Control device, control method, and storage medium
Daichi Kato, Wako (JP); and Tomotaka Teramachi, Wako (JP)
Assigned to HONDA MOTOR CO., LTD., Tokyo (JP)
Filed by HONDA MOTOR CO., LTD., Tokyo (JP)
Filed on Mar. 15, 2023, as Appl. No. 18/121,604.
Claims priority of application No. 2022-059757 (JP), filed on Mar. 31, 2022.
Prior Publication US 2023/0311869 A1, Oct. 5, 2023
Int. Cl. B60W 30/12 (2020.01); B60Q 1/34 (2006.01); B60W 10/18 (2012.01); B60W 10/20 (2006.01); B60W 10/30 (2006.01); B60W 30/18 (2012.01)
CPC B60W 30/12 (2013.01) [B60Q 1/34 (2013.01); B60Q 1/343 (2013.01); B60W 10/20 (2013.01); B60W 10/30 (2013.01); B60W 30/18163 (2013.01); B60W 10/18 (2013.01)] 13 Claims
OG exemplary drawing
 
1. A control device comprising:
a storage medium configured to store computer-readable instructions; and
one or more processors connected to the storage medium,
wherein the one or more processors execute the computer-readable instructions to:
recognize a situation of surroundings of a host vehicle,
automatically control at least steering of the host vehicle to execute branch control on the basis of the recognized surroundings situation, the branch control including lane keeping control for causing the host vehicle to travel so that the host vehicle does not deviate from a first lane on a main road on which the host vehicle is travelling, and lane change control for causing the host vehicle to change lanes to a second lane on a branch road branching off from the main road, a first number of lanes on the branch road being less than a second number of lanes on the main road, and
stop the lane keeping control and the lane change control when an event occurs in which the branch control is not executable after starting the lane change of the host vehicle from the first lane on the main road to the second lane on the branch road on the basis of the lane change control, in a case in which the host vehicle plans on traveling from the first lane to the second lane through execution of the lane keeping control and the lane change control,
wherein the one or more processors execute the computer-readable instructions to:
decelerate the host vehicle in order to change the lane from the first lane on the main road to the second lane on the branch road when the host vehicle reaches a predetermined distance before a start position at which the host vehicle starts changing lanes, and
control a speed of the host vehicle so that the speed of the host vehicle at the time of occurrence of the event is maintained and control the host vehicle so that the host vehicle does not deviate from the first lane when the event occurs after the deceleration and before start of the lane change control.