US 12,403,911 B2
Control device, control method, and storage medium
Aya Miura, Wako (JP); and Kenji Komori, Wako (JP)
Assigned to HONDA MOTOR CO., LTD., Tokyo (JP)
Filed by HONDA MOTOR CO., LTD., Tokyo (JP)
Filed on Mar. 10, 2023, as Appl. No. 18/119,853.
Claims priority of application No. 2022-042161 (JP), filed on Mar. 17, 2022.
Prior Publication US 2023/0294702 A1, Sep. 21, 2023
Int. Cl. B60W 10/04 (2006.01); B60W 10/18 (2012.01); B60W 10/20 (2006.01); B60W 30/18 (2012.01); B60W 40/04 (2006.01); B60W 40/105 (2012.01); B60W 60/00 (2020.01)
CPC B60W 30/18163 (2013.01) [B60W 60/001 (2020.02); B60W 2554/4041 (2020.02)] 11 Claims
OG exemplary drawing
 
1. A control device, wherein one or more processors:
acquire a speed of an other vehicle and a position of the other vehicle,
select, from a plurality of determination schemes, a determination scheme based on the speed of the other vehicle, wherein the plurality of determination schemes represent rules for determining whether or not the other vehicle is merging into a second lane based on the speed of the other vehicle,
based on the position of the other vehicle and the determination scheme, determine a result associated with whether the other vehicle has entered the second lane that is adjacent to a first lane in which the other vehicle is currently traveling,
control a host vehicle based on the result,
select a first determination scheme from among the plurality of determination schemes when the speed of the other vehicle is lower than a threshold, and
select a second determination scheme from among the plurality of determination schemes when the speed of the other vehicle is equal to or higher than the threshold, wherein
the first determination scheme includes a direction of the other vehicle with respect to the second lane as a determination criterion, and
the second determination scheme does not include the direction of the other vehicle with respect to the second lane as a determination criterion.