VEHICLE CONTROL DEVICE, VEHICLE CONTROL METHOD, AND PROGRAM

• Main Authors: INOUE DAICHI, TAMURA SHO
• Format: Patent
• Language: English; Japanese
• Published: 13.10.2023
• Subjects: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE ORDIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; PERFORMING OPERATIONS; PHYSICS; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TOTHE CONTROL OF A PARTICULAR SUB-UNIT; SIGNALLING; TRAFFIC CONTROL SYSTEMS; TRANSPORTING; VEHICLES IN GENERAL

To appropriately change driving control of a vehicle even in a case where a road lane marking is different from a content of map information installed in the own vehicle.SOLUTION: The present invention relates to a vehicle control device comprising: an acquisition section for acquiring a camera image picking up a peripheral situation of a vehicle; a driving control section for controlling steering and acceleration/deceleration of the vehicle without depending on operation of a driver of the vehicle, based on the camera image and map information; a mode determination section for determining, as a driving mode of the vehicle, one of a plurality of driving modes including a first driving mode and a second driving mode; a deviation determination section for determining the presence/absence of deviation between a road lane marking indicated in the camera image and a road lane marking indicated in the map information; and a parallelism calculation section for calculating parallelism between a trajectory of one or more other vehicles existing around the vehicle and the road lane marking indicated in the camera image.SELECTED DRAWING: Figure 1 【課題】カメラによって認識された道路区画線と、自車両が搭載する地図情報の内容とが異なる場合であっても、車両の運転制御を適切に変更すること。【解決手段】車両の周辺状況を撮像したカメラ画像を取得する取得部と、前記カメラ画像と地図情報に基づいて、前記車両の運転者の操作に依らずに前記車両の操舵および加減速を制御する運転制御部と、前記車両の運転モードを、第１の運転モードと、第２の運転モードとを含む複数の運転モードのいずれかに決定するモード決定部と、前記カメラ画像に示される道路区画線と前記地図情報に示される道路区画線との間に乖離が存在するか否かを判定する乖離判定部と、前記車両の周辺に存在する一以上の他車両の軌跡と、前記カメラ画像に示される道路区画線との間の平行度を算出する平行度算出部と、を備える、車両制御装置。【選択図】図１