VEHICLE CONTROL DEVICE, VEHICLE CONTROL METHOD AND PROGRAM

• Main Authors: TAMURA TAKAO, TAMURA SHO
• Format: Patent
• Language: English; Japanese
• Published: 02.04.2024
• Subjects: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE ORDIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; PERFORMING OPERATIONS; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TOTHE CONTROL OF A PARTICULAR SUB-UNIT; TRANSPORTING; VEHICLES IN GENERAL

To provide operation support with improved appropriateness to an occupant of a vehicle.SOLUTION: A vehicle control device comprises: a first recognition section which recognizes a surrounding situation of a vehicle; a second recognition section which recognizes a second compartment line regarding a traffic lane around the vehicle from map information; a motion control section which executes motion control based on recognition results of the first and second recognition sections; and a mode determination section which determines an operation mode from a plurality of operation modes. A portion of the plurality of operation modes including at least a first operation mode is controlled by the motion control section. When the first compartment line is not recognized and a preceding vehicle is recognized, determination is made for interference between a specific region to be set on the basis of the second compartment line and a position of the preceding vehicle. When the determination is made for the interference between the specific region and the preceding vehicle, the first operation mode is changed to a second operation mode. At least a portion of a width of the specific region is variably set according to at least either a distance between the vehicle and the preceding vehicle or a curvature of a road on which the vehicle travels.SELECTED DRAWING: Figure 2 【課題】車両の乗員に、より適切な運転支援を提供すること。【解決手段】車両制御装置において、車両の周辺状況を認識する第１認識部と、地図情報から車両の周辺の車線に関する第２区画線を認識する第２認識部と、第１認識部と第２認識部との認識結果に基づく運転制御を実行する運転制御部と、複数の運転モードのうち何れかに決定するモード決定部と、を備え、少なくとも第１運転モードを含む複数の運転モードの一部は運転制御部により制御されるものであり、第１区画線が認識されず、且つ、先行車両が認識されている場合に、第２区画線に基づき設定される特定領域と、先行車両の位置とが干渉するか否かを判定し、特定領域に先行車両が干渉すると判定した場合、第１運転モードを第２運転モードに変更し、特定領域は、車両と先行車両との車間距離または車両が走行する道路の曲率のうち少なくとも一方に応じて、少なくとも一部の幅が可変に設定される。【選択図】図２