US 12,115,984 B2
Vehicle control device, vehicle control method, and non-transitory computer-readable recording medium recording program
Takafumi Kakeda, Saitama (JP); and Masashi Ogawa, Saitama (JP)
Assigned to Honda Motor Co., Ltd., Tokyo (JP)
Filed by Honda Motor Co., Ltd., Tokyo (JP)
Filed on Dec. 2, 2021, as Appl. No. 17/541,185.
Claims priority of application No. 2020-200955 (JP), filed on Dec. 3, 2020.
Prior Publication US 2022/0176956 A1, Jun. 9, 2022
Int. Cl. B60W 30/12 (2020.01); B60W 50/08 (2020.01); B60W 50/10 (2012.01)
CPC B60W 30/12 (2013.01) [B60W 50/085 (2013.01); B60W 50/10 (2013.01); B60W 2540/10 (2013.01); B60W 2540/12 (2013.01); B60W 2540/18 (2013.01); B60W 2540/223 (2020.02); B60W 2552/53 (2020.02); B60W 2710/18 (2013.01); B60W 2710/20 (2013.01); B60W 2720/106 (2013.01); B60W 2720/125 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A vehicle control device, comprising:
a storage device; and
a hardware processor coupled to the storage device and configured to:
obtain gripping information indicating that a driver of a vehicle is gripping a steering wheel;
obtain operation information indicating that the driver is performing an operation related to driving the vehicle, wherein the operation information indicates at least one of an operation of controlling acceleration and deceleration of the vehicle, an operation of controlling braking of the vehicle, or an operation of the steering wheel of the vehicle;
recognize a road marking line of a lane in which the vehicle travels; and
provide a support of the vehicle by controlling the vehicle to not deviate from the road marking line when a probability that the vehicle deviates from the road marking line is greater than or equal to a predetermined degree,
wherein when the gripping information is obtained and the operation information is not obtained, the hardware processor delays an operation of the support as compared with a case where the gripping information and the operation information are not obtained, and
when the operation information is obtained, the hardware processor suppresses the operation of the support for a predetermined time regardless of whether the gripping information is obtained.