Honda Motor Co., Ltd.

Chihiro Abe

Katsuya Yashiro

Daichi Kato

Nana Niibo

Hironobu Kiryu

Hiroshi Oguro

Hitoshi Konishi

Kazuyuki Takahashi

Shion Tokunaga

Shuichi Suto

Tadashi Sumioka

A vehicle control device includes a recognizer that is configured to recognize a surrounding situation of a host vehicle and a driving controller that is configured to control acceleration or deceleration and steering of the host vehicle on the basis of a recognition result of the recognizer. The driving controller is configured to cause the host vehicle to operate in at least any of a first driving state and a second driving state in which a rate of automation is higher or tasks required of an occupant are fewer than in the first driving state, and is configured to transition a driving state of the host vehicle to the first driving state on the basis of movement of a rearward vehicle that travels rearward of the host vehicle recognized by the recognizer in a direction of a vehicle width in a case where the host vehicle is operating in the second driving state.

Vehicle control device, vehicle control method, and storage medium

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.

A vehicle control device includes a recognizer configured to recognize a surrounding situation of a host vehicle and a driving controller configured to control acceleration/deceleration and steering of the host vehicle on the basis of a recognition result of the recognizer, wherein the driving controller determines a target speed of the host vehicle by reflecting a first target speed based on a relationship between a first vehicle that travels in front of the host vehicle in a first lane and the host vehicle and a second target speed based on a relationship between a second vehicle that travels in front of a target position to which the host vehicle makes a lane change in a second lane and the host vehicle in a prescribed ratio according to progress of the lane change when the lane change from the first lane to the second lane is made.

A vehicle control device includes a recognizer configured to recognize a surrounding situation of a host vehicle and a driving controller configured to control acceleration/deceleration and steering of the host vehicle on the basis of a recognition result of the recognizer, wherein the driving controller holds a target position selected from one or more target position candidates from a start time point according to a type of lane change to a point in time at which a prescribed condition is satisfied when the driving controller causes the host vehicle to make the lane change.

This vehicle control device is provided with: an external sensor which detects a vehicle stop position present ahead of a host vehicle in the travel direction; and a remaining distance calculation unit which calculates the remaining distance to the detected vehicle stop position from the host vehicle. The vehicle control device is further provided with a medium-term trajectory generation unit and a short-term trajectory generation unit which use a predefined setting method to set a target speed for decelerating the host vehicle in accordance with the calculated remaining distance.

Vehicle control device

A vehicle control device is installed in a host vehicle and is configured to be capable of performing automatic driving or providing a driving support. The vehicle control device includes a left/right boundary line generating unit that calculates left and right boundary lines of a travel path on which the host vehicle travels. Further, the vehicle control device includes an ideal travel route generating unit that sets constraint points through which the host vehicle passes within a range of the left and right boundary lines, and furthermore, calculates an ideal travel route in which a curvature with the constraint points serving as a constraint condition, a travel distance, and a difference from a center line are minimized.

A drivable area setting device and a drivable area setting method, which can perform driving control based on a drivable area also in a road section in which a lane marker is not present. A terminal node specifying unit specifies a terminal node of a lane marker on an entry side and a terminal node of a lane marker on an exit side in a road section, such as an intersection, in which lane marker data are not present, a virtual lane marker generating unit for generating a virtual lane marker linking the terminal node of the lane marker on the entry side to the terminal node of the lane marker on the exit side, and an area setting unit for setting, as a drivable area of a vehicle, an area interposed between the generated virtual lane markers.

Growing community of inventors

Wako, Japan

Chihiro Abe