US 12,077,152 B2
Travel control apparatus
Shota Ishikawa, Wako (JP); Nana Niibo, Wako (JP); Takeru Goto, Wako (JP); and Shun Iwasaki, Wako (JP)
Assigned to Honda Motor Co., Ltd., Tokyo (JP)
Filed by Honda Motor Co., Ltd., Tokyo (JP)
Filed on Jan. 18, 2022, as Appl. No. 17/578,348.
Claims priority of application No. 2021-009538 (JP), filed on Jan. 25, 2021; and application No. 2021-203418 (JP), filed on Dec. 15, 2021.
Prior Publication US 2022/0234576 A1, Jul. 28, 2022
Int. Cl. B60W 30/09 (2012.01)
CPC B60W 30/09 (2013.01) [B60W 2552/10 (2020.02); B60W 2554/4041 (2020.02); B60W 2554/4044 (2020.02)] 15 Claims
OG exemplary drawing
 
1. A vehicle control system comprising
a sensor configured to detect an external situation around a subject vehicle,
an actuator for traveling, and
a microprocessor and a memory connected to the microprocessor, wherein
the microprocessor is configured to perform:
utilizing data generated by the sensor to calculate a surrounding situation of the subject vehicle;
generating a target path of the subject vehicle according to the surrounding situation;
calculating a correction amount for correcting the target path in a direction away from a first other vehicle in a vehicle width direction, the first other vehicle traveling in a first adjacent lane in which a traveling direction is the same as a traveling direction of a subject lane on which the subject vehicle travels and which is adjacent to one side of the subject lane, when the first other vehicle is recognized based on the surrounding situation and the subject vehicle is predicted to pass a side of the first other vehicle or the first other vehicle is predicted to pass a side of the subject vehicle;
when a second other vehicle traveling in a second adjacent lane which is adjacent to another side of the subject lane is recognized based on the surrounding situation, determining whether to correct the target path based on a traveling situation of the second other vehicle;
correcting the target path based on the correction amount calculated in the calculating when the target path is determined to be corrected; and
controlling the actuator so that the subject vehicle automatically travels along the target path.