Vehicle control device, vehicle control method, and storage medium
AssigneeHonda Motor Co., Ltd.
InventorsNana Niibo, Chihiro Abe, Katsuya Yashiro
Life of this patent
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Abstract
A vehicle control device includes a recognizer configured to recognize a surrounding situation of a vehicle and a driving controller configured to control acceleration/deceleration and steering of the vehicle on the basis of the surrounding situation recognized by the recognizer, wherein the driving controller determines a search range or a setting range of a target position candidate when a lane change is made in accordance with a type of lane change when the driving controller causes the vehicle to make the lane change.
Claims6
A vehicle control device comprising:
- a processor configured to:
- recognize a surrounding situation of a vehicle;
- and
- control acceleration/deceleration and steering of the vehicle based on the surrounding situation,
- wherein the processor determines a search range or a setting range of a target position candidate when a lane change is made in accordance with a type of lane change if the processor causes the vehicle to make the lane change,
- wherein the processor determines whether the type of lane change is at least a first type of lane change for traveling along a predetermined route, a second type of lane change for overtaking a preceding vehicle, or a third type of lane change based on a request from an occupant when the processor causes the vehicle to make the lane change, and
- wherein the processor widens the search range or the setting range when the type of lane change is the first type as compared with when the type of lane change is the second type or the third type.
A vehicle control method using a computer mounted in the vehicle, comprising:
- recognizing, a surrounding situation of a vehicle;
- controlling, acceleration/deceleration and steering of the vehicle based on the surrounding situation;
- determining, a search range or a setting range of a target position candidate when a lane change is made in accordance with a type of lane change if the vehicle makes the lane change;
- determining whether the type of lane change is at least a first type of lane change for traveling along a predetermined route, a second type of lane change for overtaking a preceding vehicle, or a third type of lane change based on a request from an occupant if the vehicle makes the lane change, and
- widening the search range or the setting range when the type of lane change is the first type as compared with when the type of lane change is the second type or the third type.
A computer-readable non-transitory storage medium storing a program for causing a computer to:
- recognize a surrounding situation of a vehicle;
- control acceleration/deceleration and steering of the vehicle based on the surrounding situation;
- determine a search range or a setting range of a target position candidate when a lane change is made in accordance with a type of lane change if the vehicle makes the lane change;
- determine whether the type of lane change is at least a first type of lane change for traveling along a predetermined route, a second type of lane change for overtaking a preceding vehicle, or a third type of lane change based on a request from an occupant if the vehicle makes the lane change, and
- widen the search range or the setting range when the type of lane change is the first type as compared with when the type of lane change is the second type or the third type.
Dependencies are inferred from the claim text.