Provided are a vehicle control device, a vehicle control method, and a storage medium which detect distortion of a map road center line only on the basis of map information and appropriately change driving control of a vehicle. This vehicle control device is provided with: an acquisition unit that acquires a camera image in which the surroundings of a vehicle are captured; a driving control unit that controls the steering and acceleration/deceleration of the vehicle on the basis of the camera image and the map information without depending on the operation of the driver of the vehicle; a mode determination unit that determines the driving mode of the vehicle as any one of a plurality of driving modes including a first driving mode and a second driving mode; a map determination unit that determines whether or not there is a deviation between map road division lines on both sides indicated by the map information; and a calculation unit that, when it is determined that there is a deviation, calculates a margin for the vehicle to continue traveling in the second driving mode on the basis of the speed of the vehicle and the distance between the map road center line indicated by the map information and either of the map road division lines on both sides.

    仅基于地图信息来检知地图道路中心线的失真而恰当地变更车辆的驾驶控制的车辆控制装置、车辆控制方法及存储介质。车辆控制装置具备:取得部,取得拍摄到车辆的周边状况的相机图像;驾驶控制部,基于相机图像和地图信息,不依赖于车辆的驾驶员的操作地控制车辆的转向及加减速;模式决定部,将车辆的驾驶模式决定为包含第一驾驶模式和第二驾驶模式的多个驾驶模式中的任一驾驶模式;地图判定部,判定地图信息所示的两侧的地图道路划分线之间是否存在偏离;算出部,在判定为存在偏离的情况下,基于到地图信息所示的地图道路中心线与两侧的地图道路划分线中的任一方交叉为止的距离、车辆的速度,来算出用于车辆继续第二驾驶模式下的行驶的富余度。


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    Titel :

    VEHICLE CONTROL DEVICE, VEHICLE CONTROL METHOD, AND STORAGE MEDIUM


    Weitere Titelangaben:

    车辆控制装置、车辆控制方法及存储介质


    Beteiligte:
    TAMURA TAKAO (Autor:in)

    Erscheinungsdatum :

    2024-03-08


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    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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