Honda Motor Co., Ltd.

Hiroshi Miura

Masamitsu Tsuchiya

Koji Kawabe

Marina Saikyo

Makoto Ishikawa

Suguru Yanagihara

Toshifumi Suzuki

Yuta Takada

Shogo Kobayashi

Takeshi Chiba

Masashi Manita

Yuki Sakai

Daihan Wang

Daisuke Sakai

Shigehiro Honda

Minoru Kobayashi

Makoto Yuzawa

Shintaro Fujita

A traveling control system comprises: a detection unit that detects another vehicle traveling in the periphery and peripheral environmental information; an acquisition unit that acquires, based on detected information, a range of a lane on which a self-vehicle travels; a first determination unit that determines, based on the detected information, approach of the other vehicle traveling in the periphery to the acquired lane, on which the self-vehicle travels; and a control unit that performs traveling control to increase a distance between the self-vehicle and the other vehicle if it is determined by the first determination unit that the approach by the other vehicle is made, wherein as the traveling control, the control unit moves a traveling position of the self-vehicle in a lateral direction different from a side of the other vehicle.

Traveling control system and control method of vehicle

If an external environment recognition unit recognizes a particular section adjacent to a first travel path, a trajectory generation unit generates a first travel trajectory that causes the own vehicle to enter the first travel path after a travel along the first travel path inside the particular section, and if the external environment recognition unit does not recognize the particular section, the trajectory generation unit generates a second travel trajectory that causes the own vehicle to directly enter the first travel path from outside the first travel path.

Vehicle control device

In a vehicle control device and a vehicle control method, the vehicle control device comprises a lane recognition unit adapted to recognize lane types of a host vehicle lane and an adjacent lane, a control condition setting unit adapted to set first to third control conditions in order to make a lane change depending on the lane types that were recognized by the lane recognition unit, and a vehicle control unit adapted to carry out a lane change control with respect to a host vehicle on the basis of the first to third control conditions set by the control condition setting unit.

Vehicle control device and vehicle control method

In a vehicle control device and a vehicle control method, the vehicle control device comprises a lane recognition unit adapted to recognize a lane type of an adjacent lane adjacent to a host vehicle lane in which a host vehicle is traveling, a determination condition setting unit adapted to set a determination condition for permitting a lane change of the host vehicle from the host vehicle lane to the adjacent lane depending on the lane type of the adjacent lane that was recognized by the lane recognition unit, a lane change determining unit adapted to permit the lane change in the case that the determination condition is satisfied, and a vehicle control unit adapted to carry out a travel control or an assist control in relation to the lane change, in the case that the lane change determining unit has permitted the lane change.

A vehicle control apparatus is configured to have a first state for performing travel control of a host vehicle based on traffic signals that appear in images captured by front cameras and a second state for performing travel control of the host vehicle based on traffic signals that appear in images captured by a front left camera, a front right camera, a rear left camera, or a rear right camera. The vehicle control apparatus is capable of performing travel control of the host vehicle in the first state when the host vehicle progresses straight, and transitioning from the first state to the second state while the host vehicle is turning left or right (during the turning operation).

Vehicle control apparatus

A peripheral vehicle is detected from an image captured by a camera, and the tire grounded portion of the peripheral vehicle is specified. Whether the color of a peripheral region of the specified tire grounded portion is white is determined. If the color is white, it is determined that the road condition of a traffic lane where the peripheral vehicle is traveling is snow.

If an external environment recognition unit recognizes another vehicle that is positioned along a travel lane, an offset setting unit sets an offset amount in a direction of separating a host vehicle from the other vehicle. The offset setting unit sets the offset amount (predetermined amount) to be smaller in a case where the external environment recognition unit identifies the other vehicle as a streetcar, than the offset amount (predetermined amount) in a case where the external environment recognition unit identifies the other vehicle as an vehicle other than the streetcar.

Vehicle control device for setting vehicle offset spacing

A vehicle control device including a first recognizer recognizing one or more other vehicles present in the vicinity of a subject vehicle; a second recognizer recognizing that a road on which the subject vehicle is running is a road having no center line; an estimator estimating a state of a driver of an oncoming vehicle facing the subject vehicle among the one or more other vehicles recognized by the first recognizer; a determiner determining whether the oncoming vehicle is a vehicle executing manual driving; and a controller decelerating the subject vehicle to a speed equal to or lower than a predetermined speed on the basis of the state of the driver of the oncoming vehicle in a case in which the oncoming vehicle is a vehicle executing manual driving, and the road on which the subject vehicle is running is a road having no center line.

Vehicle control device, vehicle control method, and storage medium

In the case of recognizing a traffic regulation which determines that the priority of a first lane is higher than the priority of a second lane, and in the case of determining a state in which another vehicle is in compliance with the traffic regulation, and then determining that the other vehicle is not complying with the traffic regulation, a vehicle control device carries out at least one of a travel control in which a travel position of a host vehicle is moved in a direction of a side opposite to the second lane, and a travel control in which acceleration is not performed.

A vehicle control apparatus of an embodiment includes a surrounding situation recognition unit which recognizes a situation of surroundings of a vehicle, a branch point recognition unit which recognizes a branch point present in a traveling direction of the vehicle on the basis of the recognition result of the surrounding situation recognition unit, a main lane recognition unit which recognizes a main lane connected to the branch point, and a driving control unit which controls one or both of the steering and acceleration/deceleration of the vehicle and causes the vehicle to travel in the direction of the main lane recognized by the main lane recognition unit at the branch point.

Vehicle control apparatus, vehicle control method, and storage medium

A vehicle surrounding information acquiring apparatus includes: a radar detector configured to detect an object around a vehicle by radio waves; a lidar detector configured to detect an object around the vehicle by light; and an image detector configured to capture a periphery of the vehicle and detect an object from the captured image. The apparatus comprises: a first processor configured to generate target information by combining a detection result of the radar detector and a detection result of the image detector; a second processor configured to generate target information by combining a detection result of the lidar detector and the detection result of the image detector; and a third processor configured to generate target information of the periphery of the vehicle by integrating the target information generated by the first processor and the target information generated by the second processor.

Vehicle surrounding information acquiring apparatus and vehicle

A vehicle control device includes an imaging unit that images surroundings of an own-vehicle, a detector that detects a state of an external appearance of an oncoming vehicle facing the own-vehicle in a tunnel on the basis of an image captured by the imaging unit, and a determiner that determines whether or not the state of the external appearance of the oncoming vehicle satisfies a predetermined condition on the basis of the state of the external appearance of the oncoming vehicle detected by the detector and determines that the outside of the tunnel toward which the own-vehicle is traveling has bad weather if the state of the external appearance of the oncoming vehicle satisfies the predetermined condition.

A vehicle control device () comprising: a recognizer () recognizing surrounding situations of a vehicle; a setting unit () setting a virtual lane in an area inside a crossing that is present in an advancement direction of the vehicle on the basis of a recognition result acquired by the recognizer; and a driving controller () controlling one or both of steering and acceleration/deceleration of the vehicle and causing the vehicle to run within the virtual lane and pass through the crossing in a case in which an object recognized by the recognizer is not present on the virtual lane, wherein, in a case in which an area inside the crossing has a width for which only one virtual lane is settable, the driving controller handles an oncoming vehicle recognized by the recognizer as an object present on the virtual lane.

An onboard determination apparatus, comprising a first acquisition unit configured to acquire peripheral information of a self-vehicle detected by a first sensor, a second acquisition unit configured to acquire peripheral information of the self-vehicle detected by a second sensor of a type different from the first sensor, and a determination unit configured to determine a type of an on-road raised object on the periphery of the self-vehicle based on both the peripheral information acquired by the first acquisition unit and the peripheral information acquired by the second acquisition unit.

Determination apparatus and vehicle

An external environment recognition unit recognizes a construction section ahead of a host vehicle and recognizes that one or more recognition objects express entry possible/impossible information as to whether the host vehicle can enter the construction section. If the external environment recognition unit recognizes a traffic control person who directs traffic in the construction section as the recognition object and recognizes the entry possible/impossible information that is expressed by the traffic control person, an action plan unit (or an entry determination unit) decides whether to cause the host vehicle to enter the construction section or to stop before the construction section by using preferentially the entry possible/impossible information that is expressed by the traffic control person.

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Wako, Japan

Hiroshi Miura