VEHICLE CONTROL DEVICE, VEHICLE CONTROL METHOD AND PROGRAM

• Main Authors: INOUE DAICHI, TAMURA SHO
• Format: Patent
• Language: English; Japanese
• Published: 07.03.2024
• 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 estimate a correct travel route even when contents of camera information and map information deviate from each other.SOLUTION: A vehicle control device comprises: a recognition section which recognizes a surrounding situation of a vehicle; an operation control section which controls steering and acceleration and deceleration of the vehicle on the basis of the surrounding situation and map information regardless of operation of a driver of the vehicle; a mode selection section which selects an operation mode of the vehicle from a plurality of operation modes including a first operation mode and a second operation mode; and a determination section which determines whether information on a stationary object group detected with a space detection sensor mounted on the vehicle corresponds to free space information detected on the basis of an image taken with a camera when determining that a road compartment line in a camera image and a road compartment line in the map information do not correspond to each other, determines whether the road compartment line in the camera image corresponds to the free space information, and determines interference between the information on the stationary object group and the road compartment line in the map information.SELECTED DRAWING: Figure 1 【課題】カメラ情報と地図情報の内容が乖離する場合であっても、正しい走路を推定すること。【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、前記カメラ道路区画線と前記地図道路区画線とが一致しないと判定された場合、前記車両に搭載される空間検知センサによって検知された静止物標群の情報と、前記カメラによって撮像された画像に基づいて検知されたフリースペースの情報とが一致するか否かを判定し、前記カメラ道路区画線と、前記フリースペースの情報とが一致するか否かを判定し、前記静止物標群の情報と、前記地図道路区画線とが干渉するか否かを判定する判定部と、を備える、車両制御装置。【選択図】図１