The invention provides a vehicle control device. A detector that acquires position information of a target on the basis of a reflected wave; a position estimation unit that estimates the position of the target on the basis of the position information acquired by the camera and the detector; and an actuator control unit that controls a travel actuator on the basis of the estimated position of the target. And a gradient detection unit that detects a prescribed gradient state, which is a state in which the gradient of the road surface ahead of the host vehicle is an upward gradient of at least a prescribed degree with respect to the road surface at the current position of the host vehicle. When the predetermined gradient state is detected, the position estimation unit reduces the reliability of the position information along the traveling direction of the vehicle acquired by the camera among the position information of the target captured on the road surface in the predetermined gradient state, and estimates the position of the target.
本发明提供一种车辆控制装置,具备:相机、基于反射波取得物标的位置信息的检测器、基于由相机和检测器取得的位置信息推定物标的位置的位置推定部、基于所推定出的物标的位置控制行驶用执行器的执行器控制部、以及检测本车辆的前方的路面的坡度是以本车辆的当前位置的路面为基准的规定程度以上的上行坡度的状态即规定坡度状态的坡度检测部。位置推定部当检测出规定坡度状态时,将在规定坡度状态的路面上捕捉到的物标的位置信息中的、由相机取得的沿着本车辆的行进方向的位置信息的可靠度降低,并推定物标的位置。
Vehicle control device
车辆控制装置
2023-04-14
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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