US 11,834,048 B2
Vehicle control device, vehicle control method, and recording medium
Tomoaki Yamabe, Saitama (JP); Nozomu Hirosawa, Saitama (JP); and Daichi Kato, Saitama (JP)
Assigned to Honda Motor Co., Ltd., Tokyo (JP)
Filed by Honda Motor Co., Ltd., Tokyo (JP)
Filed on Dec. 27, 2021, as Appl. No. 17/563,001.
Claims priority of application No. 2020-219018 (JP), filed on Dec. 28, 2020.
Prior Publication US 2022/0203991 A1, Jun. 30, 2022
Int. Cl. B60W 30/18 (2012.01); B60W 10/04 (2006.01); B60W 10/20 (2006.01); B60W 50/14 (2020.01); B60W 60/00 (2020.01); B62D 15/02 (2006.01)
CPC B60W 30/18163 (2013.01) [B60W 10/04 (2013.01); B60W 10/20 (2013.01); B60W 50/14 (2013.01); B60W 60/0051 (2020.02); B62D 15/0255 (2013.01); B60W 2552/10 (2020.02); B60W 2710/20 (2013.01); B60W 2720/106 (2013.01); B60W 2720/125 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A vehicle control device, comprising:
a storage medium which is non-transitory; and
a processor coupled to the storage medium and configured at least to:
recognize a surrounding situation of a vehicle;
controls control one or both of steering and acceleration/deceleration of the vehicle and causes the vehicle to travel in any one of a plurality of driving modes; and
output, when determining that there is a section where a current driving mode cannot be continued in a first lane in which the vehicle travels based on the surrounding situation recognized by the processor, and the vehicle is caused to change lanes from the first lane to a second lane, outputs predetermined information by a human machine interface (HMI) before the vehicle reaches the section,
wherein the predetermined information comprises first information to be output before reaching the section, and second information to be output after reaching the section,
when detecting an intention of an occupant of the vehicle to change lanes after the first information is output by the processor, and a lane change to the second lane is completed before output of the second information, the processor is further configured to continue a first driving mode that is being executed during traveling in the first lane even after the lane change is completed, and
when detecting the intention of the occupant of the vehicle to change lanes after the first information is output by the processor, and the lane change to the second lane is completed after output of the second information, the processor is further configured to change a driving mode of the vehicle to a second driving mode in which a task imposed on the occupant is larger than in the first driving mode.