VEHICLE CONTROL DEVICE, VEHICLE CONTROL METHOD, AND PROGRAM

• Main Authors: TAMURA TAKAO, TAMURA SHO
• Format: Patent
• Language: English; Japanese
• Published: 26.02.2024
• 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 execute driving control based on a center line of a travel lane.SOLUTION: A vehicle control device comprises: a recognition section for recognizing a peripheral situation of a vehicle; a driving control section for controlling steering and acceleration/deceleration of the vehicle on the basis of the peripheral situation and map information without depending on operation by a driver of the vehicle; a mode determination section for determining a driving mode of the vehicle as one of a plurality of driving modes including a first driving mode and a second driving mode; and a determination section for determining whether or not a determination angle is equal to or greater than a first threshold value, whether or not a determination distance is equal to or greater than a second threshold value, and whether or not a region ahead of the vehicle corresponds to a prescribed region. When it is determined by the determination section that the determination angle is equal to or greater than the first threshold value, the determination distance is equal to or greater than the second threshold value, and the region ahead does not correspond to the prescribed region, the mode determination section changes the second driving mode to the first driving mode based on a camera road division line included in the peripheral situation.SELECTED DRAWING: Figure 1 【課題】走行車線の中心線に基づいた運転制御を好適に実行すること。【解決手段】車両の周辺状況を認識する認識部と、前記周辺状況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、判定角度が第１閾値以上であるか否かと、判定距離が第２閾値以上であるか否かと、前記車両の前方領域が所定領域に該当しないか否かを判定する判定部と、を備え、前記モード決定部は、前記判定部によって、前記判定角度が前記第１閾値以上であり、かつ前記判定距離が前記第２閾値以上であり、かつ前記前方領域が前記所定領域に該当しないと判定された場合、前記第２の運転モードを、前記周辺状況に含まれるカメラ道路区画線に基づく前記第１の運転モードに変更する、車両制御装置。【選択図】図１