Granted Patent B2

US 12,728,850 · App. 18/897,004 · Granted Sep 8, 2026

Inventor: Yoshihiro Oniwa (Tokyo, JP)

Assignee: HONDA MOTOR CO., LTD.

B60W30/14B60W10/04B60W10/18B60W10/20B60W30/09B60W30/0953B60W30/0956B60W2540/30

Abstract

Claims (24)

1 . A vehicle control device comprising:

a recognizer configured to recognize a surrounding situation of a host vehicle; and

a controller configured to control one or both of steering or acceleration/deceleration of the host vehicle when determination is made that an obstacle is present in front of the host vehicle, based on a recognition result of the recognizer,

wherein the controller executes at least steering control of moving the host vehicle to a center of a traveling lane when the recognizer determines that the obstacle is present in front of the host vehicle,

wherein the steering control is control for making an occupant of the host vehicle aware of the obstacle in front to prompt the occupant to be alert, by a vehicle behavior of horizontally moving near the center, and

wherein the controller executes the steering control of moving the host vehicle to the center of the traveling lane, even in a case where obstacle is at any position on the traveling lane, when the host vehicle is traveling within a prescribed range of the center of the traveling lane.

2 . The vehicle control device according to claim 1 , further comprising:

a driving state detector configured to detect a driving state of the occupant of the host vehicle,

wherein the controller controls one or both of the steering or the acceleration/deceleration of the host vehicle when distracted driving of the occupant is detected by the driving state detector.

3 . The vehicle control device according to claim 1 ,

wherein the controller executes deceleration control of the host vehicle when not executing the steering control of moving the host vehicle to the center of the traveling lane.

4 . A vehicle control method comprising:

by a computer,

recognizing a surrounding situation of a host vehicle;

controlling one or both of steering and acceleration/deceleration of the host vehicle when determination is made that an obstacle is present in front of the host vehicle, based on a recognized result;

executing at least steering control of moving the host vehicle to a center of a traveling lane when determination is made that the obstacle is present in front of the host vehicle;

the steering control is control for making an occupant of the host vehicle aware of the obstacle in front to prompt the occupant to be alert, by a vehicle behavior of horizontally moving near the center; and

executing the steering control of moving the host vehicle to the center of the traveling lane, even in a case where obstacle is at any position on the traveling lane, when the host vehicle is traveling within a prescribed range of the center of the traveling lane.

5 . A computer-readable non-transitory storage medium storing a program for causing a computer to:

recognize a surrounding situation of a host vehicle;

control one or both of steering or acceleration/deceleration of the host vehicle when determination is made that an obstacle is present in front of the host vehicle, based on a recognized result;

execute at least steering control of moving the host vehicle to a center of a traveling lane when determination is made that an obstacle is present in front of the host vehicle;

the steering control is control for making an occupant of the host vehicle aware of the obstacle in front to prompt the occupant to be alert, by a vehicle behavior of horizontally moving near the center; and

execute the steering control of moving the host vehicle to the center of the traveling lane, even in a case where obstacle is at any position on the traveling lane, when the host vehicle is traveling within a prescribed range of the center of the traveling lane.

Assignments (1)

Priority Claims (1)

Continuity (1)

References Cited (25)