The invention provides a vehicle control device, a vehicle, a vehicle control method, and a storage medium, which can accurately determine whether a detected approaching object should be excluded from collision determination. The vehicle control device is mounted on a vehicle and is provided with: an acquisition unit that acquires detection information obtained by detecting an obstacle in the vicinity of the vehicle; and a sensor control unit that performs a collision determination for evaluating the possibility of a collision with an obstacle, the sensor control unit generating, on the basis of the detection information, information of an approaching object that is an obstacle approaching the vehicle and information of a detection point group that is a set of detection points of an unmoved obstacle; when the detection point group has a blocking effect of blocking the vehicle from the approaching object, the approaching object is excluded from the collision determination, and the blocking effect is evaluated using a gap threshold value based on the vehicle width.
本发明提供一种车辆控制装置、车辆、车辆控制方法以及存储介质,高准确度地判定是否应将探测到的接近物从碰撞判定中排除。车辆控制装置被搭载于车辆,具备:获取部,其获取对车辆周边的障碍物进行探测所得到的探测信息;以及传感器控制部,其进行用于对与障碍物的碰撞可能性进行评价的碰撞判定,其中,传感器控制部基于探测信息,来生成接近车辆的障碍物即接近物的信息以及表示不移动的障碍物的探测点的集合即探测点群的信息,在探测点群具有将车辆从接近物遮挡的遮挡效果的情况下,将接近物从碰撞判定中排除,关于遮挡效果,使用基于车宽的间隙阈值来进行评价。
VEHICLE CONTROL DEVICE, VEHICLE, VEHICLE CONTROL METHOD, AND STORAGE MEDIUM
车辆控制装置、车辆、车辆控制方法以及存储介质
2023-04-28
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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