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US 12,384,375 B2Granted
Vehicle system, control method, and storage medium
AssigneeHonda Motor Co., Ltd.
InventorDaichi Kato
Life of this patent
Estimating the term…
Abstract
A vehicle system executes a first operation of presenting lane change to an adjacent lane adjacent to a lane in which a host vehicle travels to a driver without considering of guiding the host vehicle to a set destination, and causing the host vehicle to perform the lane change on the basis of an instruction of the driver, a second operation for proposing a lane change required for guidance of the host vehicle to the destination to the driver and causing the host vehicle to perform a lane change on the basis of approval of the proposal by the driver, and a third operation for stopping presenting and proposing the lane change in a set period between the first operation and the second operation when a plan is to execute the second operation after the first operation.
Claims14
A vehicle system comprising:
- a storage medium configured to store computer-readable instructions;
- and
- one or more processors connected to the storage medium,
- wherein the one or more processors execute the computer-readable instructions to:
- recognize a situation of surroundings of a host vehicle,
- automatically control at least steering of the host vehicle to cause the host vehicle to perform a lane change on the basis of the recognized situation of the surroundings of the host vehicle,
- a first operation of presenting, to a driver, a lane change to a second lane adjacent to a first lane in which the host vehicle travels without considering of guiding the host vehicle to a destination, and causing the host vehicle to perform the lane change on the basis of an instruction of the driver when the host vehicle travels in the first lane,
- based on a determination that the driver does not instruct the lane change to the second lane and the host vehicle reaches a first position that is a first distance before a reference position, stopping the presenting of the lane change to the second lane to the driver and presenting information to the driver that indicates the road recommendation is not being made, and
- a second operation of proposing, to the driver, a lane change to a third lane adjacent to the first lane required for guidance of the host vehicle to the destination and causing the host vehicle to perform the lane change to the third lane on the basis of an approval of the proposal by the driver when the host vehicle travels in the first lane and the host vehicle reaches a second position that is a second distance before the reference position, the second position is closer to the reference position than the first position,
- the third lane is a lane that connects to a branch lane in which the host vehicle is scheduled to travel toward the destination.
7 more elements
A control method comprising:
- processing for recognizing, by a control device, a situation of surroundings of a host vehicle;
- processing for automatically controlling, by the control device, at least steering of the host vehicle to cause the host vehicle to perform the lane change on the basis of the recognized situation of the surroundings of the host vehicle;
- first processing for presenting, by the control device, a lane change to a second lane adjacent to a first lane in which the host vehicle travels to a driver without considering of guiding the host vehicle to a destination, and causing the host vehicle to perform the lane change on the basis of an instruction of the driver when the host vehicle travels in the first lane;
- based on a determination that the driver does not instruct the lane change to the second lane and the host vehicle reaches a first position that is a first distance before a reference position, stop presenting the lane change to the second lane to the driver and present information to the driver that indicates the road recommendation is not being made;
- and
- second processing for proposing, by the control device, lane change to a third lane adjacent to the first lane required for guidance of the host vehicle to the destination to the driver and causing the host vehicle to perform a lane change to the third lane on the basis of an approval of the proposal by the driver when the host vehicle travels in the first lane and the host vehicle reaches a second position that is a second distance before the reference position, the second position is closer to the reference position than the first position,
- the third lane is a lane that connects to a branch lane in which the host vehicle is scheduled to travel toward the destination.
4 more elements
A non-transitory computer storage medium having a program stored therein, the program causing a control device to execute:
- processing for recognizing a situation of surroundings of a host vehicle;
- processing for automatically controlling at least steering of the host vehicle to cause the host vehicle to perform the lane change on the basis of the recognized situation of the surroundings of the host vehicle;
- first processing for presenting lane change to a second lane adjacent to a first lane in which the host vehicle travels to a driver without considering of guiding the host vehicle to a destination, and causing the host vehicle to perform the lane change on the basis of an instruction of the driver when the host vehicle travels in the first lane;
- based on a determination that the driver does not instruct the lane change to the second lane and the host vehicle reaches a first position that is a first distance before a reference position, stop presenting the lane change to the second lane to the driver and present information to the driver that indicates the road recommendation is not being made;
- and
- second processing for proposing a lane change to a third lane adjacent to the first lane required for guidance of the host vehicle to the destination to the driver and causing the host vehicle to perform a lane change to the third lane on the basis of an approval of the proposal by the driver when the host vehicle travels in the first lane and the host vehicle reaches a second position that is a second distance before the reference position, the second position is closer to the reference position than the first position,
- the third lane is a lane that connects to a branch lane in which the host vehicle is scheduled to travel toward the destination.
4 more elements
Dependencies are inferred from the claim text.