Title:
VEHICLE CONTROL DEVICE, VEHICLE CONTROL METHOD, AND PROGRAM
Document Type and Number:
Japanese Patent JP2020185968
Kind Code:
A
Abstract:
To more accurately predict a traveling track of an oncoming vehicle when an obstacle exists on a traveling path.SOLUTION: A vehicle control device comprises: a recognition part that recognizes the surrounding environment of an own vehicle; a first track generation part that, on the basis of the recognition result, generates a first track on which the own vehicle travels; a second track generation part that, on the basis of the recognition result, generates a second track on which an oncoming vehicle traveling in the direction facing the own vehicle is predicted to travel; and a driving control part that, on the basis of existence or nonexistence of interference between the first track and the second track, performs driving control of one or both of the speed and steering of the own vehicle. When an obstacle on a traveling path is recognized, according to a distance between a reference position set for the obstacle and a boundary portion of the traveling path on the side opposite to the reference position in the width direction of the traveling path as viewed from the center of the obstacle, the second track generation part shifts a part of the second track in a direction away from the boundary portion with respect to the width direction of the traveling path.SELECTED DRAWING: Figure 1
Inventors:
KOMURO MISA
Application Number:
JP2019093696A
Publication Date:
November 19, 2020
Filing Date:
May 17, 2019
Export Citation:
Assignee:
HONDA MOTOR CO LTD
International Classes:
B60W30/09; B60W30/095; G08G1/16
Domestic Patent References:
| JP2000067394A | 2000-03-03 | |||
| JP2006143052A | 2006-06-08 | |||
| JP2009250839A | 2009-10-29 | |||
| JP2014182632A | 2014-09-29 | |||
| JP2011512283A | 2011-04-21 |
Foreign References:
| WO2019008703A1 | 2019-01-10 |
Attorney, Agent or Firm:
Field Saki Satoshi
Shingo Suzuki
Taichi Sakai
Shinichi Watanabe
Shingo Suzuki
Taichi Sakai
Shinichi Watanabe