VEHICLE CONTROL DEVICE, COMPUTER PROGRAM FOR CONTROLLING VEHICLE, AND VEHICLE CONTROL METHOD

• Main Authors: NAKATSURU YOSHIKI, AKAHANE SATORU, AOTANI YOSHIHIRO, KITAGAWA EIKI
• Format: Patent
• Language: English; Japanese
• Published: 29.02.2024
• 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 provide a vehicle control device capable of planning stable space creation processing when another vehicle is detected in a merging terrain.SOLUTION: A vehicle control device detects another vehicle in a detection mode 1 in a boundary region including a boundary within a predetermined visual field, and detects another vehicle in a detection mode 2 with higher precision than the detection mode 1 in a region other than the boundary region in the visual field. When it is determined that there is a merging terrain, and another vehicle traveling in an adjacent lane is detected in the boundary region in the visual field, the vehicle control device plans to control a speed of an own vehicle in a deceleration mode 1 until another vehicle traveling in the adjacent lane is detected in the region other than the boundary region in the visual field. When it is determined that there is the merging terrain, and another vehicle traveling in the adjacent lane is detected in the region other than the boundary region in the visual field, the vehicle control device plans space creation processing for controlling the speed of the own vehicle in a deceleration mode 2 allowing the own vehicle to decelerate at a greater speed change than the deceleration mode 1, thereby creating, on a travel lane ahead of the own vehicle, a space allowing another vehicle to move from the adjacent lane.SELECTED DRAWING: Figure 2 【課題】合流地形において他車両を検出した場合に、安定したスペース生成処理を計画できる車両制御装置を提供する。【解決手段】車両制御装置は、所定の視野内の境界を含む境界領域では検出モード１で他車両を検出し、視野の境界領域以外の領域では、検出モード１よりも精度の高い検出モード２で他車両を検出し、合流地形があると判定され且つ視野の境界領域で隣接車線を走行する他車両が検出された場合、視野の境界領域以外の領域で隣接車線を走行する他車両が検出されるまで、減速モード１で自車両の速度を制御することを計画し、合流地形があると判定され且つ視野の境界領域以外の領域で隣接車線を走行する他車両が検出された場合、減速モード１よりも大きな速度変化で自車両を減速可能な減速モード２で自車両の速度を制御して、他車両が隣接車線から移動可能なスペースを自車両の前方の走行車線上に生成するスペース生成処理を計画する。【選択図】図２