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US 11,142,189 B2Granted
Vehicle control device
AssigneeHonda Motor Co., Ltd.
InventorsHideki Matsunaga, Takeru Goto, Hirokiyo Kasahara, Toshiaki Takano
Life of this patent
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Abstract
A forward movement limit determination unit determines to execute a forward movement limit in the case it is recognized that there is an intersecting road or an entering vehicle, and further, it is recognized that an event that limits traveling of a host vehicle is occurring on a more forward side of the travel direction of the host vehicle than an intersecting position or an entry position. In the case it is determined that the forward movement limit is to be executed, a vehicle control unit performs the forward movement limit, on a more opposite direction side of the travel direction than the intersecting position or the entry position.
Claims7
A vehicle control device, comprising:
- an external environment recognition unit adapted to recognize a state of the external environment in the vicinity of a host vehicle;
- a forward movement limit determination unit adapted to determine whether or not to limit forward movement of the host vehicle, on the basis of a recognition result of the external environment recognition unit;
- and
- a vehicle control unit adapted to perform the forward movement limit on the basis of a determination result of the forward movement limit determination unit;
- wherein the external environment recognition unit recognizes an intersecting road intersecting with a travel path of the host vehicle in front of the host vehicle or an entering vehicle attempting to enter in front of the host vehicle, and recognizes an event is occurring that limits traveling of the host vehicle at a point beyond, in the travel direction of the host vehicle, an intersecting position between the travel path and the intersecting road or an entry position of the entering vehicle,
- the forward movement limit determination unit determines to execute the forward movement limit, in the case the external environment recognition unit recognizes the entering vehicle and the event, and determines not to execute the forward movement limit, in the case the external environment recognition unit recognizes the entering vehicle but does not recognize the event;
- and
- in the case it is determined by the forward movement limit determination unit that the forward movement limit is to be executed, the vehicle control unit utilizes the intersecting position or the entry position as a reference point, and performs the forward movement limit up to the reference point, and
- the forward movement limit determination unit maintains the forward movement limit until the entering vehicle has finished entering into the travel path, and cancels the forward movement limit when the entering vehicle has finished entering into the travel path.
6 more elements
A vehicle control device, comprising:
- an external environment recognition unit adapted to recognize a state of the external environment in the vicinity of a host vehicle;
- a forward movement limit determination unit adapted to determined whether or not to limit forward movement of the host vehicle, on the basis of a recognition result of the external environment recognition unit;
- and
- a vehicle control unit adapted to perform the forward movement limit on the basis of a determination result of the forward movement limit determination unit;
- wherein the external environment recognition unit recognizes an intersecting road intersecting with a travel path of the host vehicle in front of the host vehicle or an entering vehicle attempting to enter in front of the host vehicle, and recognizes an event is occurring that limits traveling of the host vehicle at a point beyond, in the travel direction of the host vehicle, an intersecting position between the travel path and the intersecting road or an entry position of the entering vehicle,
- the forward movement limit determination unit determines to execute the forward movement limit, in the case the external environment recognition unit recognizes the entering vehicle and the event, and determines not to execute the forward movement limit, in the case the external environment recognition unit recognizes the entering vehicle but does not recognize the event, and
- the forward movement limit determination unit maintains the forward movement limit until the entering vehicle has finished entering into the travel path, and cancels the forward movement limit when the entering vehicle has finished entering into the travel path.
4 more elements
Dependencies are inferred from the claim text.