Vehicle control device, vehicle control method, and storage medium

Patent metadata

Field	Value
Publication number	US-2025108861-A1
Application number	US-202418894411-A
Country	US
Kind code	A1
Filing date	Sep 24, 2024
Priority date	Sep 29, 2023
Publication date	Apr 3, 2025
Grant date	—

Abstract

A vehicle control device of an embodiment includes a recognizer that recognizes a surrounding situation of a host vehicle, a driving state detector that detects a driving state including steering of an occupant of the host vehicle, a driving controller that executes steering control for supporting steering of the occupant when there is a probability that the host vehicle will come into contact with a surrounding obstacle on the basis of recognition results of the recognizer and steering of the occupant equal to or larger than a predetermined value has been detected by the driving state detector, and a limiter that adjusts a limit value related to steering of the occupant in accordance with a steering state of the occupant.

First claim

What is claimed is:

1 . A vehicle control device comprising:
a recognizer that recognizes a surrounding situation of a host vehicle; a driving state detector that detects a driving state including steering of an occupant of the host vehicle; a driving controller that executes steering control for supporting steering of the occupant when there is a probability that the host vehicle will come into contact with a surrounding obstacle on the basis of recognition results of the recognizer and steering of the occupant equal to or larger than a predetermined value has been detected by the driving state detector; and a limiter that adjusts a limit value related to steering of the occupant in accordance with a steering state of the occupant.

2 . The vehicle control device according to claim 1 ,
wherein the limit value includes a first upper limit value with respect to steering when the steering control is not being performed, and a second upper limit value with respect to steering during the steering control, and the driving controller executes steering control such that a steering state during the steering control does not exceed the second upper limit value.

3 . The vehicle control device according to claim 2 ,
wherein the limiter sets the second upper limit value within a predetermined range from a largest value of a steering state of the occupant detected by the driving state detector.

4 . The vehicle control device according to claim 2 ,
wherein the limiter adjusts the second upper limit value until a predetermined time elapses after the steering control has been executed.

5 . The vehicle control device according to claim 3 ,
wherein the limiter causes the adjusted second upper limit value to decrement so as to become close to the first upper limit value with an elapse of time.

6 . The vehicle control device according to claim 4 ,
wherein the predetermined time is a time shorter than a time when the steering control is predicted to be executed.

7 . The vehicle control device according to claim 2 ,
wherein the limiter adjusts the second upper limit value in accordance with a steering state of the occupant when the steering state of the occupant detected by the driving state detector exceeds the first upper limit value.

8 . A vehicle control method in which a computer
recognizes a surrounding situation of a host vehicle, detects a driving state including steering of an occupant of the host vehicle, executes steering control for supporting steering of the occupant when there is a probability that the host vehicle will come into contact with a surrounding obstacle on the basis of recognition results and steering of the occupant equal to or larger than a predetermined value has been detected, and adjusts a limit value related to steering of the occupant in accordance with a steering state of the occupant.

9 . A computer readable non-transitory storage medium which stores a program causing a computer
to recognize a surrounding situation of a host vehicle, to detect a driving state including steering of an occupant of the host vehicle, to execute steering control for supporting steering of the occupant when there is a probability that the host vehicle will come into contact with a surrounding obstacle on the basis of recognition results and steering of the occupant equal to or larger than a predetermined value has been detected, and to adjust a limit value related to steering of the occupant in accordance with a steering state of the occupant.

Assignees

• Honda Motor Co Ltd

Inventors

• Oniwa Yoshihiro

Classifications

• B62D15/0255

  Automatic changing of lane, e.g. for passing another vehicle · CPC title

• B62D15/025

  Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation (B62D1/28 takes precedence) · CPC title

• B62D15/0265 Primary

  Automatic obstacle avoidance by steering · CPC title