Honda Motor Co., Ltd.

Kanta Tsuji

Atsushi Ishioka

Tadahiko Kanoh

Daichi Kato

Jun Ochida

Takuyuki Mukai

Tadashi Naruse

Yuta Takada

Nozomu Hirosawa

Takafumi Hirose

Daiki Nishida

Katsuya Yashiro

Jun Ibuka

Takashi Tsujioka

Takuji Hiroma

Akihiko Aoyagi

Haruhiko Nishiguchi

Mahito Shikama

Fumio Hara

Shigehiro Honda

Tadahiko Kanou

Atsushi Mitsui

Yuichi Komori

Seiji Watanabe

Ryoma Taguchi

Takashi Kishimoto

Yoshifumi Nakamura

Kentaro Ishisaka

Yasuharu Hashimoto

Hideaki Iwashita

Atsuki Iwamitsu

Takaaki Fukusako

Takashi Kuboshima

Noriyuki Imaeda

Daiki Higuchi

Akira Shiogai

Riho Harada

Hideyuki Ichikawa

Yosuke Shima

Daisuke Nakanishi

Takuya Tobe

Shinji Ijima

Hideyuki Ichakawa

Koichi Fujimaki

A vehicle control device of embodiments includes a recognizer configured to recognize a surrounding status of a vehicle, a driving controller configured to control one or both of steering and acceleration or deceleration of the vehicle on the basis of the surrounding status recognized by the recognizer or map information, a storage configured to store images of the surroundings of the vehicle captured by a peripheral camera mounted on the vehicle; and a storage controller configured to control the storage. The driving controller causes the vehicle to travel in one of a plurality of driving modes including a first driving mode and a second driving mode in which a task imposed on an occupant of the vehicle is greater than that in the first driving mode. The driving controller causes the vehicle to travel by switching from the first driving mode to the second driving mode when an abnormality has occurred in one or both of the peripheral camera and the storage in the first driving mode, and continues the second driving mode when an abnormality has occurred in one or both of the peripheral camera and the storage in the second driving mode.

Vehicle control device, vehicle control method, and program

A vehicle control device includes an inter-vehicle distance determination unit that determines an inter-vehicle distance, and a following control unit that performs a following control with respect to a preceding vehicle on the basis of the inter-vehicle distance determined by the inter-vehicle distance determination unit. The following control includes a first control state, and a second control state in which a burden on the driver is lighter than in the first control state, or in which a degree of automation is higher than in the first control state. A minimum value of the inter-vehicle distance that can be determined by the inter-vehicle distance determination unit in the second control state is greater than a minimum value of the inter-vehicle distance that can be determined by the inter-vehicle distance determination unit in the first control state.

Vehicle control device and vehicle control method

A vehicle control device includes a recognizer configured to recognize a surrounding situation of a host vehicle and a driving controller configured to control one or both of steering and a speed of the host vehicle. The driving controller designates an inter-vehicle distance from the preceding vehicle that travels in front of the host vehicle as a first inter-vehicle distance when the host vehicle is allowed to travel in a first driving mode, designates an inter-vehicle distance from the preceding vehicle as a second inter-vehicle distance when the host vehicle is allowed to travel in a second driving mode, and designates the target inter-vehicle distance from the preceding vehicle in the second driving mode as a longer distance between the first inter-vehicle distance and the second inter-vehicle distance when the driving mode is switched from the first driving mode to the second driving mode.

A vehicle control apparatus includes a first control unit and a second control unit each configured to perform travel control of a vehicle based on a recognition result of an external recognition device group configured to obtain external information of the vehicle and a detection result of a vehicle information detection unit configured to obtain state information of an actuator group of the vehicle. In a case in which functional degradation of at least one of the external recognition device group, the actuator group, and the vehicle information detection unit is detected, based on the recognition result and the detection result, the first control unit determines contents of vehicle control in fallback control for restricting a travel control function of the vehicle and determines whether to execute the fallback control by one of the first control unit and the second control unit.

Vehicle control apparatus, vehicle, vehicle control method, and non transitory computer readable storage medium

In a vehicle control system, a control unit executes a stop process by which the vehicle is parked in a prescribed stop position when it is detected that the control unit or the driver has become incapable of properly maintaining a traveling state of the vehicle, and, in the stop process, if a sidewalk or a road sign is recognized ahead of the vehicle according to a signal from an external environment recognition device, the control unit determines the stop position according to the recognized sidewalk or road sign.

Vehicle control system

Provided is a vehicle control device configured to: recognize a surrounding situation of a vehicle; control steering and acceleration/deceleration of the vehicle; detect operation states of a plurality of external recognition sensors; determine a driving mode of the vehicle as any one of a plurality of driving modes including a first driving mode, a second driving mode, and a third driving mode; change the third driving mode to either one of the first driving mode and the second driving mode when determining that a failure has occurred in one of the plurality of external recognition sensors that implement: a function of causing the vehicle to follow a preceding vehicle; and a function of assisting the vehicle in keeping a lane; and change the third driving mode to the second driving mode when determining that degradation in performance has occurred in one of the plurality of external recognition sensors.

Vehicle control device, vehicle control method, and storage medium

In a vehicle control system (), a control unit () is configured to execute a stop process by which the vehicle is parked in a prescribed stop position located within a permitted distance when it is detected that the control unit or the driver has become incapable of properly maintaining a traveling state of the vehicle, and, in executing the stop process, the control unit computes an agreement between an object (X) contained in the map information based on an estimated position of the vehicle and an object (Y) on the road detected by an external environment recognition device (), the permitted distance being smaller when the agreement is below a prescribed agreement threshold than when the agreement is equal to or above the agreement threshold.

A vehicle control system includes a first actuator that is configured to perform at least any of driving, braking, or steering of a host vehicle, a first controller that is configured to perform traveling control of the host vehicle by controlling the first actuator, a second actuator that is configured to perform at least any of driving, braking, or steering of the host vehicle, a second controller that is configured to perform traveling control of the host vehicle by controlling the second actuator, and a communication line that is interposed between the first controller and the second controller. The first controller is configured to determine whether an operating state of the first actuator satisfies a predetermined condition, and limit, in a case where it is determined that the operating state of the first actuator satisfies the predetermined condition, control of the first actuator as compared to a case where it is determined that the predetermined condition is not satisfied, and transmits a predetermined signal to the second controller through the communication line, and in a case where the predetermined signal is received from the first controller through the communication line, the second controller performs traveling control of the host vehicle in place of at least a portion of a function of the first controller by controlling the second actuator.

Vehicle control system and vehicle control method

A vehicle control device includes a recognizer configured to recognize situations around a vehicle; a determiner configured to determine any of lanes included in a road on which the vehicle travels as a reference lane; and a driving controller configured to control at least one of a speed and steering of the vehicle according to the situations recognized by the recognizer and the reference lane determined by the determiner, wherein the determiner is configured to, when the vehicle moves from a first road to a second road different from the first road, among a plurality of lanes included in the first road, according to a relative position of a first reference lane determined at a time before the vehicle moves to the second road with respect to the plurality of lanes, determine a second reference lane on the second road.

A vehicle control apparatus is provided. The apparatus comprises a controller that performs following control of following the preceding vehicle based on the peripheral information. The controller controls traveling of a self-vehicle by setting one of a first state which requires driving preparation by a driver and a second state which does not require the driving preparation by the driver, controls the self-vehicle by setting the first state if a behavior amount of the preceding vehicle exceeds a threshold; and controls the vehicle by setting the second state if the behavior amount of the preceding vehicle does not exceed the threshold, and changes the threshold based on the peripheral information.

Vehicle control apparatus

An automated driving control unit sets an automated driving state to a first automated driving state (step S), in a case that an automated driving instruction unit has instructed the initiation of automated driving in a state in which a destination is set by a destination setting unit, sets the automated driving state to a second automated driving state (step S), in a case that the automated driving instruction unit has instructed the initiation of automated driving in a state in which the destination is not set by the destination setting unit, and causes the automated driving state to transition from the first automated driving state to the second automated driving state (step S), in a case that a current travel position lies outside of a travel route during the travel control in the first automated driving state.

Vehicle control device

A vehicle control device includes: a transmission control unit that can select a restricted mode in which the range of a gear ratio of a transmission is restricted and an unrestricted mode in which the range of the gear ratio is not restricted, and controls the gear ratio in accordance with the selected transmission mode; and a lane change control unit that, if the unrestricted mode is selected in a case where a lane change request has been acquired, keeps the unrestricted mode and performs lane change control in which a host vehicle changes lanes, and if the restricted mode is selected in the case where the lane change request has been acquired, selects the unrestricted mode and performs the lane change control.

Vehicle control device for performing lane change control

A control system of a vehicle, comprises: a control unit that controls a lane change operation from a travel lane on which the vehicle is traveling to an adjacent lane; a detection unit that detects a driver's lane change intention; and a switching unit that switches between a first control state in which the lane change operation of the vehicle is restricted and a second control state in which the lane change operation of the vehicle is possible, wherein in a case in which the detection unit detects the driver's lane change intention when the state of the vehicle is in the first control state, the lane change operation by the control unit is performed after the switching unit has shifted the state of the vehicle from the first control state to the second control state.

Control system of vehicle, control method of the same, and non-transitory computer-readable storage medium

In a case where a first control device performs traveling control, an abnormality occurs in a first control target, and an abnormality further occurs in a first control target or a second control target, a vehicle control system executes the following processes: (A) in a case where no abnormality occurs in a first control target required for the traveling control, the first control device continues the traveling control; (B) in a case where an abnormality occurs in the first control target required for the traveling control and no abnormality occurs in the second control target required for the traveling control, the second control device executes the traveling control; and (C) in a case where an abnormality occurs in the first control target required for the traveling control and an abnormality occurs in the second control target required for the traveling control, the traveling control is limited.

A vehicle control apparatus for controlling a vehicle, comprising, a setting unit that accepts setting of a destination; an acquisition unit that acquires peripheral information of the vehicle; and a control unit that controls traveling of the vehicle based on the peripheral information, wherein the control unit executes, if the destination has been set, first control in which first assist for a course change is performed in accordance with a case in which the vehicle has entered a course change area from a first road existing on a traveling route to the destination to a second road connected to the first road, and executes, if the destination has not been set, second control in which second assist with an assist level lower than in the first assist is performed on a road existing on a current traveling route.

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Kanta Tsuji