Provided are a moving body control apparatus, a moving body, and a moving body control method. The moving body control apparatus 12 includes a vicinity information acquiring section 58 that acquires vicinity information of a moving body 10; a lane change control section 62 that is capable of performing a first lane change, which is a lane change in which a lane boundary line 76A-76C is crossed once, and a second lane change, which is a lane change in which lane boundary lines are crossed a plurality of times; and a region setting section 64 that sets a first lane change region 82, which is a region in which the first lane change is permitted, and a second lane change region 84, which is a region in which the second lane change is permitted, based on the vicinity information. The second lane change region is smaller than the first lane change region, in a range where a distance to a branching position leading to a destination is less than a prescribed distance LX. In this way, lane change can be appropriately performed.
本发明提供一种移动体控制装置、移动体及移动体控制方法。移动体控制装置(12)具有:周边信息获取部(58),其获取移动体(10)的周边信息;车道变更控制部(62),其能够执行作为单次越过车道分界线(76A~76C)的车道变更的第1车道变更和作为多次越过车道分界线的车道变更的第2车道变更;区域设定部(64),其根据周边信息来设定作为允许进行第1车道变更的区域的第1可变更车道区域(82)和作为允许进行第2车道变更的区域的第2可变更车道区域(84),在到通往目的地的分流位置(75B)的距离小于规定距离(LX)的范围内,所述第2可变更车道区域比所述第1可变更车道区域小。据此,能够恰当地进行车道变更。
MOVING BODY CONTROL APPARATUS, MOVING BODY, AND MOVING BODY CONTROL METHOD
移动体控制装置、移动体以及移动体控制方法
2021-10-22
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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