Vehicle control device, vehicle control method, and storage medium
A vehicle control device, vehicle technology, applied in the direction of control devices, road vehicle traffic control systems, vehicle components, etc.
Pending Publication Date: 2021-08-24
HONDA MOTOR CO LTD
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- Abstract
- Description
- Claims
- Application Information
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Problems solved by technology
[0003] However, the above-mentioned devices are sometimes not able to perform appropriate merging corresponding to traffic conditions
Method used
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[0038] Hereinafter, embodiments of a vehicle control device, a vehicle control method, and a storage medium according to the present invention will be described with reference to the drawings.
[0039] [the whole frame]
[0040] figure 1 It is a configuration diagram of a vehicle system 1 using the vehicle control device of the embodiment. The vehicle on which the vehicle system 1 is mounted is, for example, a two-wheel, three-wheel, or four-wheel vehicle, and its driving source is an internal combustion engine such as a diesel engine or a gasoline engine, an electric motor, or a combination thereof. The electric motor operates using electric power generated by a generator connected to the internal combustion engine, or electric power discharged from a secondary battery or a fuel cell.
[0041] The vehicle system 1 includes, for example, a camera 10, a radar device 12, a LIDAR (Light Detection and Ranging) 14, an object recognition device 16, a communication device 20, an HMI ...
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The invention discloses a vehicle control device may not be able to perform appropriate merging according to traffic conditions, a vehicle control method, and a storage medium. The vehicle control device includes a merging controller configured to generate a first plan for changing a lane of the self-vehicle to in front of or behind a first vehicle, based on a relative relationship between a position and a speed of the self-vehicle and the first vehicle, and allow the self-vehicle to change lanes to the first main lane based on the first plan when it is estimated that a third vehicle is able to change lanes to a second main lane adjacent to the first main lane without interfering with a fourth vehicle, based on a relative relationship between a position and a speed of the first vehicle or a second vehicle present behind the self-vehicle and traveling and the fourth vehicle in a case where it is assumed that the self-vehicle has changed lanes to the first main lane based on the first plan.
Description
technical field [0001] The invention relates to a vehicle control device, a vehicle control method and a storage medium. Background technique [0002] Conventionally, there has been disclosed a driving support device for a vehicle that causes a host vehicle to merge into a traffic flow on a merging destination lane (for example, refer to Patent Document 1). The driving support device for a vehicle calculates the merge time difference between the time when the self-vehicle reaches the merge position on the merge destination lane and the time when the merge candidate space between vehicles on the merge destination lane reaches the merge position, and when the merge time difference is detected, In the case of a merging candidate space shorter than the predetermined first reference time, the display device displays a bird's-eye view of the vicinity of the merging position including the display of the merging candidate space and the display of the own vehicle. Visual priority is...
Claims
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IPC IPC(8): B60W30/08G08G1/16
CPCB60W30/08G08G1/166B60W2420/52B60W2420/42B60W2556/65B60W2556/50B60W2556/10B60W2520/10B60W2520/105B60W2520/14B60W2520/18B60W10/04B60W10/20B60W30/18163B60W30/0953B60W40/04B60W2552/10B60W2554/4041B60W2554/4049B60W60/0011
Inventor 余开江
Owner HONDA MOTOR CO LTD