Patent ID: 11958506
Assignee: HONDA MOTOR CO., LTD.
Field: Transport (Mechanical engineering)
Classification: CPC B  G | IPC B

Claim 0:
1. A vehicle control device comprising:
a processor that executes instructions to:
recognize a position of a vehicle;
control one or both of acceleration/deceleration and steering of the vehicle and to cause the vehicle to travel in one of a plurality of driving modes in which tasks imposed on an occupant of the vehicle are different; and
determine a driving mode which is to be performed, wherein the processor recognizes first road information including road marking objects within a predetermined distance from the vehicle with respect to a position of the vehicle based on a recognition result from an external sensor, recognizes second road information including road marking objects within a predetermined distance from the vehicle from map information based on position information of the vehicle, and performs a process of recognizing the position of the vehicle through matching between the first road information and the second road information,
wherein the processor switches the driving mode of the vehicle to a driving mode in which a task imposed on the occupant of the vehicle is heavier when switching conditions for switching the driving mode of the vehicle are satisfied after the processor has become unable to recognize the position of the vehicle, and
wherein the switching conditions include a condition that the vehicle has moved by a predetermined width in a width direction of a travel lane and has traveled a travelable distance derived based on a speed of the vehicle and an angle of the vehicle at a time point at which the processor has become unable to recognize the position of the vehicle after recognition accuracy of the position of the vehicle has decreased.