US 11,836,993 B2
Method for controlling vehicle, vehicle control device, and storage medium
Misa Komuro, Wako (JP); and Yosuke Sakamoto, Wako (JP)
Assigned to HONDA MOTOR CO., LTD., Tokyo (JP)
Filed by HONDA MOTOR CO., LTD., Tokyo (JP)
Filed on Mar. 9, 2021, as Appl. No. 17/195,676.
Claims priority of application No. 2020-047468 (JP), filed on Mar. 18, 2020.
Prior Publication US 2021/0291828 A1, Sep. 23, 2021
Int. Cl. G06V 20/56 (2022.01); B60W 30/095 (2012.01); B60W 30/09 (2012.01); B60W 30/14 (2006.01); B60W 40/04 (2006.01); B60W 10/20 (2006.01); G06V 10/80 (2022.01); G06V 40/10 (2022.01); G06V 20/58 (2022.01)
CPC G06V 20/588 (2022.01) [B60W 10/20 (2013.01); B60W 30/09 (2013.01); B60W 30/0956 (2013.01); B60W 30/146 (2013.01); B60W 40/04 (2013.01); G06V 10/803 (2022.01); B60W 2554/4029 (2020.02); B60W 2554/4041 (2020.02); B60W 2554/80 (2020.02); G06V 20/58 (2022.01); G06V 40/10 (2022.01)] 8 Claims
OG exemplary drawing
 
1. A method for controlling a vehicle comprising:
recognizing at least a position of a traffic participant around a vehicle and a road environment around the traffic participant,
setting a risk region for the traffic participant based on at least the recognized position of the traffic participant,
estimating a type of the traffic participant and a type of object that the traffic participant has,
referring to correction information in which correction pattern is associated with a combination of the type of the traffic participant and the type of object that the traffic participant has,
specifying the correction pattern according to the type of the traffic participant that is estimated, and the type of object that the traffic participant has and that is estimated,
setting the risk region according to the correction pattern for the traffic participant based on at least the position of the traffic participant,
correcting the set risk region based on a width of a sidewalk where the traffic participant is present or a width of a roadway around the traffic participant which is the recognized road environment, and
controlling a speed and steering of the vehicle based on the corrected risk region,
in a case where the width of the roadway is narrower than a second width, correcting the risk region to a first risk region having a first width, and
in a case where the width of the roadway is equal to or greater than the second width, correcting the risk region to a second risk region having a second width which is narrower than the first width.