Vehicle control device, vehicle control method, and storage medium
AssigneeHonda Motor Co., Ltd.
InventorsChihiro Oguro, Junya Yoda
Life of this patent
Estimating the term…
Abstract
A vehicle control device includes: a recognizer configured to recognize a surrounding situation of a vehicle based on an output of an on-board sensor; an interruption vehicle specifier configured to specify an interruption vehicle attempting to interrupt a travel lane from a lateral side of the travel lane in which there is the vehicle based on a recognition result of the recognizer; and a driving controller configured to control at least one of an acceleration or deceleration speed or steering of the vehicle based on a position of the specified interruption vehicle.
Claims8
A vehicle control device comprising:
- a recognizer configured to recognize a surrounding situation of a vehicle;
- an interruption vehicle specifier configured to specify an interruption vehicle attempting to interrupt a travel lane from a lateral side of the travel lane in which there is the vehicle based on a recognition result of the recognizer;
- and
- a driving controller configured to control at least one of an acceleration or deceleration speed or steering of the vehicle based on a position of the specified interruption vehicle,
- wherein the interruption vehicle specifier includes a first interruption vehicle specifier that specifies the interruption vehicle based on a side movement amount of another vehicle and a second interruption vehicle specifier that specifies the interruption vehicle based on a direction of a vehicle body of the other vehicle,
- wherein the first interruption vehicle specifier operates when a speed of the vehicle is equal to or greater than a predetermined speed, and
- wherein both the first interruption vehicle specifier and the second interruption vehicle specifier operate when the speed of the vehicle is less than the predetermined speed.
A vehicle control method causing a computer to:
- recognize a surrounding situation of a vehicle;
- specify an interruption vehicle attempting to interrupt a travel lane from a lateral side of the travel lane in which there is the vehicle based on a recognition result of the recognizer;
- and
- control at least one of an acceleration or deceleration speed or steering of the vehicle based on a position of the specified interruption vehicle,
- wherein the specifying the interruption vehicle includes:
- specifying the interruption vehicle based on a side movement amount of another vehicle when a speed of the vehicle is equal to or greater than a predetermined speed;
- and
- specifying the interruption vehicle based on a direction of a vehicle body of the other vehicle when the speed of the vehicle is less than the predetermined speed.
A computer-readable non-transitory storage medium that stores a program causing a computer to:
- recognize a surrounding situation of a vehicle;
- specify an interruption vehicle attempting to interrupt a travel lane from a lateral side of the travel lane in which there is the vehicle based on a recognition result of the recognizer;
- and
- control at least one of an acceleration or deceleration speed or steering of the vehicle based on a position of the specified interruption vehicle,
- wherein the specifying the interruption vehicle includes:
- specifying the interruption vehicle based on a side movement amount of another vehicle when a speed of the vehicle is equal to or greater than a predetermined speed;
- and
- specifying the interruption vehicle based on a direction of a vehicle body of the other vehicle when the speed of the vehicle is less than the predetermined speed.
Dependencies are inferred from the claim text.