{
  "$type": "site.standard.document",
  "description": "A vehicle control device includes a recognizer configured to recognize a surrounding environment of a vehicle and a driving controller configured to perform driving control according to speed control and steering control of the vehicle on the basis of a recognition result of the recognizer. The…",
  "path": "/patents/1273185",
  "publishedAt": "2020-10-01T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W30/09",
    "HONDA MOTOR CO., LTD."
  ],
  "textContent": "A vehicle control device includes a recognizer configured to recognize a surrounding environment of a vehicle and a driving controller configured to perform driving control according to speed control and steering control of the vehicle on the basis of a recognition result of the recognizer. The recognizer includes a physical object recognizer configured to recognize a physical object present on a route of the vehicle on the basis of an image acquired from an imaging unit configured to image a space in a traveling direction of the vehicle and an obstacle determiner configured to determine whether or not the physical object recognized by the physical object recognizer is a specific obstacle that hinders traveling in a lane where the vehicle is currently traveling. The driving controller is configured to start a lane change execution possibility determination before the obstacle determiner makes the determination or simultaneously with a start of the determination in a case where the physical object recognizer has recognized the physical object and the vehicle is allowed to make the lane change.",
  "title": "VEHICLE CONTROL DEVICE, VEHICLE CONTROL METHOD, AND STORAGE MEDIUM"
}