US 12,441,354 B2
Vehicle control device, vehicle control method, and storage medium
Sho Hitakatsu, Wako (JP); Toshikazu Suwa, Tokyo (JP); and Masaki Nakajima, Yokohama (JP)
Assigned to HONDA MOTOR CO., LTD., Tokyo (JP)
Filed by HONDA MOTOR CO., LTD., Tokyo (JP)
Filed on Dec. 23, 2021, as Appl. No. 17/560,338.
Claims priority of application No. 2020-218168 (JP), filed on Dec. 28, 2020.
Prior Publication US 2022/0204024 A1, Jun. 30, 2022
Int. Cl. B60W 60/00 (2020.01); G01C 21/36 (2006.01); G06V 20/56 (2022.01)
CPC B60W 60/001 (2020.02) [G01C 21/3605 (2013.01); G06V 20/56 (2022.01); B60W 2554/4041 (2020.02); B60W 2554/4049 (2020.02)] 3 Claims
OG exemplary drawing
 
1. A vehicle control device comprising:
a processor configured to execute instructions to:
recognize a situation around a vehicle;
determine events that define a traveling state of the vehicle based on i) the recognized situation, ii) a route to a destination of the vehicle, and iii) a position of the vehicle;
perform automated driving that controls at least one of acceleration, deceleration and steering of the vehicle based on the determined events;
determine whether a number of events within a predetermined range in a traveling direction of the vehicle among the determined events exceeds an upper limit number, wherein the events within the predetermined range include first events that are indispensable for the vehicle to reach the destination and second events that are not indispensable for the vehicle to reach the destination;
remove the second events from the events within the predetermined range when the number of the events within the predetermined range exceeds the upper limit number; and
lower a current control level of the automated driving when a number of the first events remaining from the events within the predetermined range after removing the second events exceeds the upper limit number.