Vehicle control device and vehicle control method
AssigneeHonda Motor Co., Ltd.
InventorsMarina Saikyo, Hiroshi Miura, Toshifumi Suzuki, Suguru Yanagihara
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Abstract
In a vehicle control device and a vehicle control method, the vehicle control device comprises a lane recognition unit adapted to recognize lane types of a host vehicle lane and an adjacent lane, a control condition setting unit adapted to set first to third control conditions in order to make a lane change depending on the lane types that were recognized by the lane recognition unit, and a vehicle control unit adapted to carry out a lane change control with respect to a host vehicle on the basis of the first to third control conditions set by the control condition setting unit.
Claims11
A vehicle control device adapted to carry out a travel control or an assist control for a host vehicle, on the basis of an output result from at least one device from among a periphery monitoring device that monitors the periphery around the host vehicle, or a position specifying device that specifies a travel position of the host vehicle, the vehicle control device comprising:
- an action planning unit adapted to create action plans based on recognition results from the periphery monitoring device and the position specifying device;
- a lane recognition unit adapted to recognize a respective lane type for each lane of a plurality of lanes of a road, the respective lane type being one of a general lane type and a specified lane type in which a specified vehicle is capable of traveling in a preferential manner, the plurality of lanes of the road include a first lane connected to an exit of a road and recognized to have the general lane type, one or more second lanes adjacent to the first lane and recognized to have the general lane type, and a specified lane separated from the first lane by the one or more second lanes and recognized to have the specified lane type, wherein a host vehicle lane is one of the plurality of lanes of the road in which a host vehicle is traveling and an adjacent lane is one of the plurality of lanes of the road adjacent to the host vehicle lane;
- a control condition setting unit adapted to set a control condition for the host vehicle in order to make a lane change from the host vehicle lane to the adjacent lane depending on the recognized respective lane type;
- and
- a vehicle control unit adapted to carry out a travel control or an assist control in relation to the lane change of the host vehicle on the basis of the control condition set by the control condition setting unit,
- in a case where a planned travel route to the exit is set and the host vehicle lane is the specified lane, the control condition setting unit sets the control condition to be more lenient in a situation where sufficient time or distance is not available for the host vehicle to reach the exit, compared to a situation where there is time or distance available until the host vehicle reaches the exit.
A vehicle control method adapted to carry out a travel control or an assist control for a host vehicle, on the basis of an output result from at least one device from among a periphery monitoring device that monitors the periphery around the host vehicle, or a position specifying device that specifies a travel position of the host vehicle, the vehicle control method comprising:
- a first step in which a lane recognition unit recognizes a respective lane type for each lane of a plurality of lanes of a road, the respective lane type being one of a general lane type and a specified lane type in which a specified vehicle is capable of traveling in a preferential manner, the plurality of lanes of the road include a first lane connected to an exit of a road and recognized to have the general lane type, one or more second lanes adjacent to the first lane and recognized to have the general lane type, and a specified lane separated from the first lane by the one or more second lanes and recognized to have the specified lane type, wherein a host vehicle lane is one of the plurality of lanes of the road in which the host vehicle is traveling and an adjacent lane is one of the plurality of lanes of the road adjacent to the host vehicle lane;
- a second step in which a control condition setting unit sets a control condition for the host vehicle in order to make a lane change from the host vehicle lane to the adjacent lane depending on the respective lane type that was recognized by the lane recognition unit, in a case where a planned travel route to the exit is set based on recognition results from the periphery monitoring device and the position specifying device and the host vehicle lane is the specified lane type, the control condition being more lenient in a situation where sufficient time or distance is not available for the host vehicle to reach the exit, compared to a situation where there is time or distance available until the host vehicle reaches the exit;
- and
- a third step in which a vehicle control unit carries out a travel control or an assist control in relation to the lane change of the host vehicle on the basis of the control condition set by the control condition setting unit.
Dependencies are inferred from the claim text.