VEHICLE CONTROL DEVICE, VEHICLE CONTROL METHOD, AND PROGRAM

• Main Authors: INOUE DAICHI, 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 more properly execute driving control according to a recognition result around a vehicle.SOLUTION: A vehicle control device includes: a first recognition section which recognizes a peripheral situation of an own vehicle including a first compartment line for sectioning a travel lane of the own vehicle on the basis of an output of a detection device for detecting the peripheral situation of the own vehicle; a second recognition section which recognizes a second compartment line for sectioning a lane around the own vehicle from map information on the basis of positional information of the own vehicle; and a driving control section which executes driving control for controlling at least steering of steering or speed of the own vehicle on the basis of the recognition results. The driving control section executes driving control for giving priority to the first compartment line over the second compartment line when the first compartment line is not matched with the second compartment line when the own vehicle travels in a lane change section, and when one of two first compartment lines exists in the lane sectioned by two second compartment lines, while a distance between the two second compartment lines and the first compartment line existing in the lane is a prescribed distance or more, and other compartment lines are recognized in an extending direction of the second compartment lines.SELECTED DRAWING: Figure 2 【課題】車両周辺の認識結果に応じてより適切な運転制御を実行する。【解決手段】実施形態の車両制御装置は、自車両の周辺状況を検知した検知デバイスの出力に基づいて自車両の走行車線を区画する第１区画線を含む自車両の周辺状況を認識する第１認識部と、自車両の位置情報に基づいて地図情報から自車両の周辺の車線を区画する第２区画線を認識する第２認識部と、認識結果に基づいて自車両の操舵または速度のうち少なくとも操舵を制御する運転制御を実行する運転制御部とを備え、運転制御部は、自車両が車線変化区間を走行する際、第１区画線と第２区画線とが合致しない場合であって、２つの第２区画線により区画される車線内に２つの第１区画線の一方が存在し、２つの第２区画線と車線内に存在する第１区画線との距離が所定距離以上であり且つ第２区画線の延伸方向に他の区画線が認識された場合に第２区画線よりも第１区画線を優先する運転制御を実行する。【選択図】図２