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US 11,590,979 B2Granted
Vehicle control device, vehicle, vehicle control method, and storage medium
AssigneeHonda Motor Co., Ltd.
InventorsJunya Yoda, Katsuya Yashiro
Life of this patent
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Abstract
A vehicle control device that controls traveling of a vehicle, the vehicle control device comprises: an acquisition unit configured to acquire information of a periphery of the vehicle; and a control unit configured to, based on the information that the acquisition unit acquired, determine whether or not another vehicle, which travels in one of a plurality of traffic lanes of a merging path that merges into a traffic lane that the vehicle is traveling in, will merge into the traffic lane, and based on the determination, control travel of the vehicle.
Claims11
A vehicle control device that controls traveling of a vehicle, the vehicle control device comprising:
- at least one processor circuit with a memory comprising instructions, that when executed by the at least one processor circuit, cause the at least one processor circuit to at least:
- acquire information of a periphery of the vehicle;
- and
- based on the information, determine whether or not another vehicle, which travels in one of a plurality of traffic lanes of a merging path that merges into a traffic lane that the vehicle is traveling in, will merge into the traffic lane, and based on the determination, control travel of the vehicle,
- wherein the merging path includes, as the plurality of traffic lanes,
- a first merging traffic lane adjacent to the traffic lane and
- a second merging traffic lane in a position more apart from the traffic lane in a width direction of the traffic lane than the first merging traffic lane, and
- the instructions, when executed by the at least one processor circuit, further cause the at least one processor circuit to at least:
- in a case where it is determined that the another vehicle, which will merge from the merging path to the traffic lane, is present,
- set different threshold values to control the relative positioning between the vehicle and the another vehicle depending on what merging traffic lane the another vehicle is traveling in, and
- set a first threshold value when the another vehicle is traveling in the first merging traffic lane and sets a second threshold value when the another vehicle is traveling in the second merging traffic lane.
8 more elements
A vehicle that has a vehicle control device that controls travel of the vehicle,
- wherein the vehicle control device comprises:
- at least one processor circuit with a memory comprising instructions, that when executed by the at least one processor circuit, cause the at least one processor circuit to at least:
- acquire information of a periphery of the vehicle;
- and
- based on the information, determine whether or not another vehicle, which travels in one of a plurality of traffic lanes of a merging path that merges into a traffic lane that the vehicle is traveling in, will merge into the traffic lane, and based on the determination, control travel of the vehicle,
- wherein the merging path includes, as the plurality of traffic lanes,
- a first merging traffic lane adjacent to the traffic lane and
- a second merging traffic lane in a position more apart from the traffic lane in a width direction of the traffic lane than the first merging traffic lane, and
- the instructions, when executed by the at least one processor circuit, further cause the at least one processor circuit to at least:
- in a case where it is determined that the another vehicle, which will merge from the merging path to the traffic lane, is present,
- set different threshold values to control the relative positioning between the vehicle and the another vehicle depending on what merging traffic lane the another vehicle is traveling in, and
- set a first threshold value when the another vehicle is traveling in the first merging traffic lane and set a second threshold value when the another vehicle is traveling in the second merging traffic lane.
9 more elements
A vehicle control method of a vehicle control device that controls traveling of a vehicle, the vehicle control method comprising:
- acquiring information of a periphery of the vehicle;
- and
- based on the acquired information, determining whether or not another vehicle, which travels in one of a plurality of traffic lanes of a merging path that merges into a traffic lane that the vehicle is traveling in, will merge into the traffic lane, and based on the determination, controlling travel of the vehicle,
- wherein the merging path includes, as the plurality of traffic lanes,
- a first merging traffic lane adjacent to the traffic lane and
- a second merging traffic lane in a position more apart from the traffic lane in a width direction of the traffic lane than the first merging traffic lane, and
- in a case where it is determined that the another vehicle, which will merge from the merging path to the traffic lane, is present,
- different threshold values are set to control the relative positioning between the vehicle and the another vehicle depending on what merging traffic lane the another vehicle is traveling in, and
- a first threshold value is set when the another vehicle is traveling in the first merging traffic lane and a second threshold value is set when the another vehicle is traveling in the second merging traffic lane.
6 more elements
A non-transitory computer-readable storage medium storing a program for causing a computer to execute each step of a vehicle control method of a vehicle control device that controls travel of a vehicle, the vehicle control method comprising:
- acquiring information of a periphery of the vehicle;
- and
- based on the acquired information, determining whether or not another vehicle, which travels in one of a plurality of traffic lanes of a merging path that merges into a traffic lane that the vehicle is traveling in, will merge into the traffic lane, and based on the determination, controlling travel of the vehicle,
- wherein the merging path includes, as the plurality of traffic lanes,
- a first merging traffic lane adjacent to the traffic lane and
- a second merging traffic lane in a position more apart from the traffic lane in a width direction of the traffic lane than the first merging traffic lane, and
- in a case where it is determined that the another vehicle, which will merge from the merging path to the traffic lane, is present,
- different threshold values are set to control the relative positioning between the vehicle and the another vehicle depending on what merging traffic lane the another vehicle is traveling in, and
- a first threshold value is set when the another vehicle is traveling in the first merging traffic lane and a second threshold value is set when the another vehicle is traveling in the second merging traffic lane.
6 more elements
Dependencies are inferred from the claim text.