Patent ID: 11867526
Assignee: HONDA MOTOR CO., LTD.
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 10:
11. A vehicle control method generating a map for use in acquiring a position of a subject vehicle in which a camera detecting a situation around the subject vehicle in traveling, and a traveling actuator for controlling the traveling of the subject vehicle are installed to control the traveling of the subject vehicle based on the map, the method comprising:
extracting one or more feature points from detection data acquired by the camera;
generating the map with the feature points extracted from the detection data;
controlling, by a microprocessor, the traveling actuator so that the subject vehicle travels along a target route calculated based on the map;
recognizing a landmark on the map;
determining an importance of the landmark so that the higher a location estimation accuracy of the subject vehicle required based on a viewpoint of safety, the higher the importance of the landmark;
applying the importance of the landmark to a section on a road from a current position of the subject vehicle to a point that is distant in a traveling direction by a distance determined based on a speed limit set for the road on which the subject vehicle is traveling; and
correcting a number of the feature points included in the map corresponding to the section on the road based on the importance of the landmark.