Patent ID: 11970162
Assignee: HONDA MOTOR CO., LTD.
Field: Transport (Mechanical engineering)
Classification: CPC B  G | IPC B

Claim 0:
1. A vehicle control device comprising:
a recognizer that recognizes a surrounding situation of a vehicle, and identifies an interrupting vehicle trying to cut in a lane of the vehicle;
a driving controller that controls steering and acceleration/deceleration of the vehicle without depending on an operation of the vehicle by a driver; and
a mode determiner that determines a driving mode of the vehicle as one of a plurality of driving modes including a first driving mode and a second driving mode,
wherein the second driving mode is a driving mode imposing a lighter task on the driver than the first driving mode, and a part of the plurality of driving modes including at least the second driving mode is controlled by the driving controller,
wherein the mode determiner restricts execution of the second driving mode when a relationship between the vehicle and the interrupting vehicle satisfies a predetermined condition, and
wherein the predetermined condition includes a condition that a time to collision between the vehicle and the interrupting vehicle is equal to or shorter than a first threshold value, and a distance between a center of the lane and a center of the interrupting vehicle is equal to or smaller than a second threshold value.