# US 11,299,160 B2 · Vehicle control device, vehicle control method, and storage medium > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,299,160 B2 - Document ID: US11299160B2 - Status: Granted - Kind: B2 - Application number: 16/215,741 - Filed: 2018-12-11 - Published: 2019-06-13 - Granted: 2022-04-12 - Earliest claimed: 2017-12-13 - Assignees: Honda Motor Co., Ltd. - Applicants: Honda Motor Co., Ltd. - Inventors: Haruhiko Nishiguchi; Satoshi Fujii; Hiroyuki Koibuchi; Idhsada Sanguanwongthong - Web page: https://patentgrep.com/patent/US11299160B2 ## CPC - B60W 30/18163: {Lane change; Overtaking manoeuvres} - B60W 10/04: including control of propulsion units - B60W 10/18: including control of braking systems - B60W 10/20: including control of steering systems - B60W 10/30: including control of auxiliary equipment, e.g. air-conditioning compressors or oil pumps - B60W 2554/00: Input parameters relating to objects - B60W 2554/20: Static objects - B60W 2554/4029: Pedestrians - B60W 2554/4045: Intention, e.g. lane change or imminent movement - B60W 2554/80: Spatial relation or speed relative to objects - B60W 2554/805: Azimuth angle - B60W 2710/06: Combustion engines, Gas turbines - B60W 2710/18: Braking system - B60W 2710/20: Steering systems - B60W 2710/30: Auxiliary equipments - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT ## Abstract A vehicle control device (100, 1) including: a detector (110, 16) detecting other vehicles; a lane change executer (154) executing a lane change of a subject vehicle on the basis of states of the other vehicles detected by the detector without depending on a steering operation of a vehicle occupant of the subject vehicle; a determiner (152) determining whether or not the lane change is to be continued on the basis of the states of the other vehicles executing a lane change from a third lane adjacent to a second lane to the second lane, which are being detected or have been detected by the detector, after control of executing a lane change of the subject vehicle from a first lane to the second lane adjacent to the first lane is started by the lane change executer; and a return controller (156) returning the subject vehicle from the second lane to the first lane in a case in which it is determined that the lane change is not to be continued by the determiner. ## Claims ### Claim 1 A vehicle control device comprising a processor, the processor being configured to: detect other vehicles; execute a lane change of a subject vehicle based on states of the other vehicles without depending on a steering operation of a vehicle occupant of the subject vehicle; determine whether or not the lane change is to be continued based on the states of a first vehicle, the first vehicle being one of the other vehicles executing a lane change from a third lane adjacent to a second lane to the second lane, which are being detected or have been detected, after control of executing the lane change of the subject vehicle from a first lane to the second lane adjacent to the first lane is started; and return the subject vehicle from the second lane to the first lane in a case in which it is determined that the lane change is not to be continued, wherein the processor determines whether or not the lane change is to be continued based on a time for the subject vehicle to arrive at the second lane, wherein, in a case in which the first vehicle has a predetermined positional relation with the subject vehicle, the processor determines that the lane change is to be continued in a case in which the time is shorter than a threshold value and determines that the lane change is not to be continued in a case in which the time is longer than the threshold value, and wherein, the processor changes the threshold value based on an index value obtained by dividing a distance by a relative speed between the first vehicle and the subject vehicle. ### Claim 2 (depends on 1) The vehicle control device according to claim 1, wherein the processor determines that the lane change is not to be continued regardless of the degree of entry in a case in which the first vehicle has entered a predetermined area on a lateral side of the subject vehicle. ### Claim 3 (depends on 1) The vehicle control device according to claim 1, wherein the threshold value is able to be changed by a vehicle occupant. ### Claim 4 (depends on 1) The vehicle control device according to claim 1, wherein the processor determines whether or not the lane change is to be continued based on the index value. ### Claim 5 (depends on 1) The vehicle control device according to claim 1, wherein the processor changes conditions for determining whether or not the lane change is to be continued based on the degree of entry of the subject vehicle into the second lane. ### Claim 6 A vehicle control method executed using a computer mounted in a vehicle, the vehicle control method comprising: detecting other vehicles; executing a lane change of a subject vehicle based on states of the other vehicles without depending on a steering operation of a vehicle occupant of the subject vehicle; determining whether or not the lane change is to be continued based on the states of a first vehicle, the first vehicle being one of the other vehicles executing a lane change from a third lane adjacent to a second lane to the second lane after control of executing the lane change of the subject vehicle from a first lane to the second lane adjacent to the first lane is started; and returning the subject vehicle from the second lane to the first lane in a case in which it is determined that the lane change is not to be continued, wherein the determination is performed based on a time for the subject vehicle to arrive at the second lane, wherein, in a case in which the first vehicle has a predetermined positional relation with the subject vehicle, the determination includes determining that the lane change is to be continued in a case in which the time is shorter than a threshold value and determining that the lane change is not to be continued in a case in which the time is longer than the threshold value, and wherein, the method further comprises changing the threshold value based on an index value obtained by dividing a distance by a relative speed between the first vehicle and the subject vehicle. ### Claim 7 A computer-readable non-transitory storage medium storing a program, the program causing a computer to execute: detecting other vehicles; executing a lane change of a subject vehicle based on states of the other vehicles without depending on a steering operation of a vehicle occupant of the subject vehicle; determining whether or not the lane change is to be continued based on the states of a first vehicle, the first vehicle being one of the other vehicles executing a lane change from a third lane adjacent to a second lane to the second lane after control of executing the lane change of the subject vehicle from a first lane to the second lane adjacent to the first lane is started; and returning the subject vehicle from the second lane to the first lane in a case in which it is determined that the lane change is not to be continued, wherein the determination is performed based on a time for the subject vehicle to arrive at the second lane, wherein, in a case in which the first vehicle has a predetermined positional relation with the subject vehicle, the determination includes determining that the lane change is to be continued in a case in which the time is shorter than a threshold value and determining that the lane change is not to be continued in a case in which the time is longer than the threshold value, and wherein, the method further comprises changing the threshold value based on an index value obtained by dividing a distance by a relative speed between the first vehicle and the subject vehicle.